Platoon modal operations under vehicle autonomous adaptive cruise control model

Abstract

This paper presents a theoretical development of adaptive cruise control models and platoon operation logic for Automated Highway Systems in the Advanced Vehicle Control Systems (AVeS). Three control modes, constant speed, emergency and vehicle-following, are defined based on the minimum safe stopping distance, and applied to the platoon operations.

Desired acceleration model is built for the different cruise control mode by considering the relative velocity, the difference between the relative distance and desired spacing, and the acceleration of the preceding vehicle. A control system model is proposed based on the analysis of vehicle dynamics. The contribution of uncontrolled forces from the air, slop and friction to the vehicle acceleration is considered.

Application of control models for two successive vehicles is simulated under the situations of speed transition and emergency stopping. Proper control parameters are determined for different operation mode subject to the conditions: collision avoidance and stability. Same criteria are utilized to the platoon simulation in which the operation logic is regulated so that the platoon leader is operated under either emergency mode or constant speed mode depending upon the . distance from the downstream vehicle, while the intraplatoon vehicles are forced to operate under vehicle-following mode. Three cases under speed transition, emergency stopping and platoon leader splitting are simulated to determine the stable control parameters. Lane capacity analysis shows the tradeoff between safety and efficiency for platoon. modal operations on freeway with guideline or automated highway.