Fractional-order-based ACC/CACC algorithm for improving string stability |
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| Affiliation: | 1. Department of Electrical Engineering and Information Technology (DIETI), University of Naples Federico II, Naples, Italy;2. Department of Research and Development, Media Motive srl, NetCom Group spa, Naples, Italy;1. Department of Civil and Environmental Engineering, University of Delaware, United States;2. John A. Reif, Jr. Department of Civil and Environmental Engineering, New Jersey Institute of Technology, United States;1. Department of Electrical and Computer Engineering, University of California, Davis, CA, USA;2. Department of Civil and Environmental Engineering, University of California, Davis, CA, USA;3. Department of Computer Science, University of California, Davis, CA, USA;1. RITS, INRIA Paris, France;2. Research Department, Renault SAS, 1 Avenue de Golf, 78280 Guyancourt, France |
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| Abstract: | Traffic flow optimization and driver comfort enhancement are the main contributions of an Adaptive Cruise Control (ACC) system. If communication links are added, more safety and shorter gaps can be reached performing a Cooperative-ACC (CACC). Although shortening the inter-vehicular distances directly improves traffic flow, it can cause string unstable behavior. This paper presents fractional-order-based control algorithms to enhance the car-following and string stability performance for both ACC and CACC vehicle strings, including communication temporal delay effects. The proposed controller is compared with state-of-the-art implementations, exhibiting better performance. Simulation and real experiments have been conducted for validating the approach. |
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| Keywords: | Adaptive cruise control Cooperative adaptive cruise control String stability Fractional-order calculus Cooperative systems Intelligent transportation systems |
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