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A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Abstract
Connected and automated vehicles (CAVs) have the potential to address a number of safety, mobility, and sustainability issues of our current transportation systems. Cooperative longitudinal motion control is one of the key CAV technologies that allows vehicles to be driven in a cooperative manner to achieve system-wide benefits. In this paper, we provide a literature survey on the progress accomplished by researchers worldwide regarding cooperative longitudinal motion control systems of multiple CAVs. Specifically, the architecture of various cooperative CAV systems is reviewed to answerhow cooperative longitudinal motion control can workwith the help of multiple system modules. Next, different operational concepts of cooperative longitudinal motion control applications are reviewed to answerwhere they can be implemented in today’s transportation systems. Different cooperative longitudinal motion control methodologies and their major characteristics are then described to answerwhat the critical design issues are. This paper concludes by describing an overall landscape of cooperative longitudinal motion control of CAVs, as well as pointing out opportunities and challenges in the future research and experimental implementations.
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“For motion control in the ICV, communication technologies utilized to help enhance the sensing range may bring various problems due to switching information flow topologies and the time delay.”
From Vehicle-to-Everything Communication in Intelligent Connected Vehicles: A Survey and Taxonomy (2025) · cites this paper as [35]
In the citing paper
“The nonlinear and heterogeneous nature of vehicle dynamics and the uncertain reliability of wireless communication links require careful design of CAV controllers to mitigate the impact of feedback channels and ensure string stability in CACC strings [35].”
From Vehicle-to-Everything Communication in Intelligent Connected Vehicles: A Survey and Taxonomy (2025) · cites this paper as [35]
In the citing paper
“Meanwhile, the internal stability of a Cooperative Adaptive Cruise Control (CACC) system does not automatically guarantee string stability.If error signals are amplified upstream despite the closed-loop system's internal stability, it can lead to collisions among consecutive vehicles.”
From Vehicle-to-Everything Communication in Intelligent Connected Vehicles: A Survey and Taxonomy (2025) · cites this paper as [35]
In the citing paper
“Moreover, in terms of heterogeneous dynamics, the assumption of homogeneity among vehicles is not realistic due to the wide range of models, types, and powertrain component variations.”
From Vehicle-to-Everything Communication in Intelligent Connected Vehicles: A Survey and Taxonomy (2025) · cites this paper as [35]
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Metadata
- Authors
- Wang, Z., Bian, Y., Shladover, S. E., Wu, G., Li, S. E., & Barth, M. J.
- Affiliations
- University of California, Riverside (US)
- Tsinghua University (CN)
- University of California, Berkeley (US)
- Venue
- IEEE Intelligent Transportation Systems Magazine
- Published
- 2020
- Volume
- 12
- Issue
- 1
- Pages
- 4-24
- ISSN
- 1939-1390 (ISSN-L)
- 1941-1197
- OpenAlex
- W2996811802
- Cited by
- 316
- References
- 155
- Citations by year
- 2026: 12 · 2025: 43 · 2024: 55 · 2023: 82 · 2022: 61 · 2021: 47 · 2020: 16
- FWCI
- 17.31
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Intelligent Transportation Systems Magazine (publishedVersion)
- eScholarship (California Digital Library) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Traffic control and management
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Distributed Control Multi-Agent Systems
- Keywords
- connected and automated vehicles, cooperative driving, vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle platooning
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