Impact of Cooperative Adaptive Cruise Control on Traffic Stability
Impact of Cooperative Adaptive Cruise Control on Traffic Stability
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DOI：
10.1177/03611981221094822
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发表时间：
2022-06-08
影响因子：
1.7
通讯作者：
Zhang, Kuilin
中科院分区：
文献类型：
--
作者：
Hung, Yun-Chu;Zhang, Kuilin
协同自适应巡航控制（CACC）是一种流行的互联自动驾驶汽车（CAV）应用，用于协同驾驶自动化，结合了连接和自动化技术，以提高字符串稳定性。该研究旨在推导CACC控制器的串稳定性条件，并分析CACC对同质CAV车队和具有人类驾驶车辆（HDV）的异构交通的串稳定性的影响，仅连接技术的联网车辆（CV），仅自动化技术的自动驾驶车辆（AV）。我们从数学上分析了均匀和非均匀交通流中CACC对字符串稳定性的影响。我们采用的参数从文献中的HDV，CV，AV的异构流量的情况下。我们发现，有一个最小的恒定的时间间隔所需的每个参数的设计，以确保在均匀的CACC交通的稳定性。此外，恒定车头时距和控制时间间隔长度与稳定性正相关，而控制参数与稳定性负相关。数值分析还表明，在混合交通情况下，在HDV市场渗透率较低的情况下，CACC车辆可以比CV和AV更好地保持串稳定性。
Cooperative adaptive cruise control (CACC) is one of the popular connected and automated vehicle (CAV) applications for cooperative driving automation with combined connectivity and automation technologies to improve string stability. This study aimed to derive the string stability conditions of a CACC controller and analyze the impacts of CACC on string stability for both a fleet of homogeneous CAVs and for heterogeneous traffic with human-driven vehicles (HDVs), connected vehicles (CVs) with connectivity technologies only, and autonomous vehicles (AVs) with automation technologies only. We mathematically analyzed the impact of CACC on string stability for both homogeneous and heterogeneous traffic flow. We adopted parameters from literature for HDVs, CVs, and AVs for the heterogeneous traffic case. We found there was a minimum constant time headway required for each parameter design to ensure stability in homogeneous CACC traffic. In addition, the constant time headway and the length of control time interval had positive correlation with stability, but the control parameter had a negative correlation with stability. The numerical analysis also showed that CACC vehicles could maintain string stability better than CVs and AVs under low HDV market penetration rates for the mixed traffic case.