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Design and experimental evaluation of cooperative adaptive cruise control
Open accessAbstract
Road throughput can be increased by driving at small inter-vehicle time gaps. The amplification of velocity disturbances in upstream direction, however, poses limitations to the minimum feasible time gap. String-stable behavior is thus considered an essential requirement for the design of automatic distance control systems, which are needed to allow for safe driving at time gaps well below 1 s. Theoretical analysis reveals that this requirement can be met using wireless inter-vehicle communication to provide real-time information of the preceding vehicle, in addition to the information obtained by common Adaptive Cruise Control (ACC) sensors. In order to validate these theoretical results and to demonstrate the technical feasibility, the resulting control system, known as Cooperative ACC (CACC), is implemented on a test fleet consisting of six passenger vehicles. Experiments clearly show that the practical results match the theoretical analysis, thereby indicating the possibilities for short-distance vehicle following.
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Cited by
A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Wang, Z., Bian, Y., Shladover, S. E., Wu, G., Li, S. E., & Barth, M. J. (2020) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2019.2953562 · Cited by 316
Traffic capacity implications of automated vehicles mixed with regular vehicles
Olia, A., Razavi, S., Abdulhai, B., & Abdelgawad, H. (2018) · Journal of Intelligent Transportation Systems · doi:10.1080/15472450.2017.1404680 · Cited by 199
Garg, M., & Bouroche, M. (2023) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2023.3238889 · Cited by 80
Design and evaluation of remote driving architecture on 4g and 5g mobile networks
den Ouden, J., Ho, V., van der Smagt, T., Kakes, G., Rommel, S., Passchier, I., Juza, J., & Tafur Monroy, I. (2022) · Frontiers in Future Transportation · doi:10.3389/ffutr.2021.801567 · Cited by 31
Villamil, A., Casas, J., & Fettweis, G. (2025) · IEEE Control Systems Letters · doi:10.1109/lcsys.2025.3580348 · Cited by 1
Metadata
- Authors
- Ploeg, J., Scheepers, B. T. M., van Nunen, E., van de Wouw, N., & Nijmeijer, H.
- Venue
- 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)
- Publisher
- IEEE
- Published
- 2011-10
- Pages
- 260-265
- OpenAlex
- W2124723444
- Cited by
- 584
- References
- 0
- FWCI
- 28.98
- Type
- conference paper
- Language
- en
- Open access
- green
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- Ploeg, J., Scheepers, B. T. M., van Nunen, E., van de Wouw, N., & Nijmeijer, H. (2011). Design and experimental evaluation of cooperative adaptive cruise control. 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc.2011.6082981
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