Design and field evaluation of cooperative adaptive cruise control with unconnected vehicle in the loop
Design and field evaluation of cooperative adaptive cruise control with unconnected vehicle in the loop
复制标题
非网联车辆在环协同自适应巡航控制设计与现场评估
DOI：
10.1016/j.trc.2021.103364
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Shim, David Hyunchul
中科院分区：
文献类型：
--
作者：
Lee, Daegyu;Lee, Seungwook;Chen, Zheng;Park, B. Brian;Shim, David Hyunchul
为了充分利用混合交通中车辆自动化和连通性的优势，提出了一种基于非连通车辆环路的协同自适应巡航控制策略（CACCu）。当遇到未连接的前车时，CACCu使联网自动驾驶车辆（CAV）能够从与更前方的联网车辆的通信中受益，而不是完全退回到自适应巡航控制（ACC）。为了验证CACCu的可行性，本研究开发了一个CACCu系统，并在现场与真实的车辆进行了测试。基于速度指令的CACCu控制器的设计和参数化优化预期的字符串稳定性。该实验使用两辆配备Mobileye传感器和Wi-Fi模块的自动驾驶汽车进行。与ACC和人类驾驶（作为自我车辆）相比，CACCu的跟驰性能在使用NGSIM车辆轨迹数据构建的真实交通场景中进行了评估。在每种控制方法的6次测试运行中，发现CACCu比ACC减少了10.8%的加速度均方根（RMS）、60.8%的间距误差RMS和6.2%的燃料消耗，表明CACCu在控制精度、乘坐舒适性和能量效率方面的优势。与人类驾驶相比，CACCu还降低了17.6%的加速度和13.4%的油耗。更重要的是，CACCu能够有效避免ACC和人类驾驶经常发生的交通干扰放大，这意味着CACCu显着提高了字符串的稳定性。
To fully harvest the benefits of vehicular automation and connectivity in the mixed traffic, a cooperative longitudinal control strategy named Cooperative Adaptive Cruise Control with Unconnected vehicle in the loop (CACCu) has been proposed. When encountering an unconnected preceding vehicle, CACCu enables a Connected and Automated Vehicle (CAV) to benefit from communicating with a connected vehicle further ahead, rather than completely falling back to Adaptive Cruise Control (ACC). To validate the feasibility of CACCu, this study developed and tested a CACCu system with real vehicles in the field. A speed-command-based CACCu controller is designed and parameterized for optimizing the anticipated string stability. The experiment was conducted with two automated vehicles equipped with Mobileye sensors and Wi-Fi modules. The car-following performance of CACCu, in comparison with ACC and human driving (as the ego vehicle), was evaluated in the real-traffic scenarios constructed using NGSIM vehicle trajectory data. Over the 6 test runs for each control method, it was found that CACCu reduced 10.8% acceleration Root Mean Square (RMS), 60.8% spacing error RMS and 6.2% fuel consumption from ACC’s, indicating advantages of CACCu in control accuracy, ride comfort and energy efficiency. Compared with human driving, CACCu also reduced 17.6% acceleration and 13.4% fuel consumption. More importantly, the CACCu was able to efficiently avoid the traffic disturbance amplifications that frequently happened to ACC and human driving, which means the string stability has been significantly improved by the CACCu.
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DOI：
--
发表时间：
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期刊：
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DOI：
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发表时间：
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期刊：
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