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Electrical Engineering and Systems Science > Systems and Control

arXiv:2108.07911 (eess)
[Submitted on 18 Aug 2021]

Title:Compact Cooperative Adaptive Cruise Control for Energy Saving: Air Drag Modelling and Simulation

Authors:Yeojun Kim, Jacopo Guanetti, Francesco Borrelli
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Abstract:This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of vehicle-to-vehicle (V2V) communication in the presence of uncertain front vehicle acceleration. The interest in CACC is motivated by the potential improvement in energy consumption and road throughput. In order to quantify this potential, we characterize experimentally the relationship between inter-vehicular gap, vehicle speed, and (reduction of) energy consumption for a compact plug-in hybrid electric vehicle. The resulting model is leveraged to show efficacy of our control design, which pursues small inter-vehicle gaps between consecutive CAVs and, therefore, improved energy efficiency. Our proposed control design is based on a robust model predictive control framework to systematically account for the system uncertainties. We present a set of thorough simulations aimed at quantifying energy efficiency improvement when vehicle states and predictions exchanged via V2V communication are used in the control law.
Comments: Full (extended) version of the accepted paper at IEEE Transactions on Vehicular Technology
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2108.07911 [eess.SY]
  (or arXiv:2108.07911v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2108.07911

Submission history

From: Yeojun Kim [view email]
[v1] Wed, 18 Aug 2021 00:03:19 UTC (576 KB)
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