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Dynamics of a long platoon of cooperative adaptive cruise control vehicles

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  • Davis, L.C.

Abstract

The dynamics of long platoons of adaptive cruise control vehicles with Vehicle-to-Vehicle communications are analyzed. The effects of feedback of the position, velocity and acceleration from the platoon’s lead vehicle are evaluated with numerical simulations. An alternative derivation of the equations pertaining to small deviations about equilibrium and a linear extrapolation for a general control law are given. Under a constant headway time range policy the upstream vehicles of platoons with lead velocity feedback reach a velocity plateau as the lead vehicle accelerates. The headway remains constant at the equilibrium value until the end of the plateau. Simulations show that velocity feedback produces improvements, especially reductions of platoon acceleration. Adding position feedback smooths the response to lead vehicle acceleration. Unlike the case of constant headway range policy where acceleration feedback is essential, only minor effects are found for acceleration feedback for the constant headway time policy. Simulations show that typical communication interruptions (treated simply as delays) do not have significant effects. However, if simulations take into account the discrete nature of occasional failures of information transmissions (packet drops), oscillations are induced in platoon vehicle acceleration. Simulations demonstrate that replacing feedback from the lead vehicle with feedback from a few immediately preceding vehicles can be effective.

Suggested Citation

  • Davis, L.C., 2018. "Dynamics of a long platoon of cooperative adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 503(C), pages 818-834.
    • Handle: RePEc:eee:phsmap:v:503:y:2018:i:c:p:818-834
    DOI: 10.1016/j.physa.2018.03.015
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    References listed on IDEAS

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    1. Davis, L.C., 2013. "The effects of mechanical response on the dynamics and string stability of a platoon of adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 392(17), pages 3798-3805.
    2. Davis, L.C., 2016. "Improving traffic flow at a 2-to-1 lane reduction with wirelessly connected, adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 451(C), pages 320-332.
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    Cited by:

    1. Gong, Jian & Cao, Jinde & Zhao, Yuan & Wei, Yun & Guo, Jianhua & Huang, Wei, 2020. "Sampling-based cooperative adaptive cruise control subject to communication delays and actuator lags," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 171(C), pages 13-25.
    2. Liu, Huaqing & Jiang, Rui, 2021. "Improving comfort level in traffic flow of CACC vehicles at lane drop on two-lane highways," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 575(C).
    3. Wenjing Tian & Jien Ma & Lin Qiu & Xiang Wang & Zhenzhi Lin & Chao Luo & Yao Li & Youtong Fang, 2023. "The Double Lanes Cell Transmission Model of Mixed Traffic Flow in Urban Intelligent Network," Energies, MDPI, vol. 16(7), pages 1-17, March.

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