Application of Predictor Feedback to Compensate Time Delays in Connected Cruise Control

作者：Molnar Tamas G; Qin Wubing B; Insperger Tamas; Orosz Gabor

来源：IEEE Transactions on Intelligent Transportation Systems, 2018, 19(2): 545-559.

DOI：10.1109/TITS.2017.2754240

• Connected cruise control
• predictive control
• stability analysis
• time delay

In this paper, we investigate a vehicular string traveling on a single lane, where vehicles use connected cruise control to regulate their longitudinal motion based on data received from other vehicles via wireless vehicle-to-vehicle communication. Assuming digital controllers, the sample-and-hold units introduce time-periodic time delays in the control loops and the delays increase when data packets are lost. We investigate the effect of packet losses on plant and string stability while varying the control gains and determine the minimum achievable time gap below which stability cannot be achieved. We propose two predictor feedback control strategies that overcome the destabilizing effect of the time delay caused by the sample-and-hold unit and packet losses.

• 出版日期2018-2