Impact of Communication Loss on MPC based Cooperative Adaptive Cruise Control and Platooning

TL;DR

This paper investigates how communication loss affects the performance and robustness of MPC-based cooperative adaptive cruise control and platooning, highlighting improvements in response time and string stability.

Contribution

It introduces an MPC-based control approach for CACC and platooning and analyzes the impact of communication loss on their performance and stability.

Findings

Communication loss degrades control performance but can be mitigated with robust MPC.

MPC enhances response time and string stability in cooperative driving.

Results demonstrate improved traffic flow and disturbance attenuation.

Abstract

Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main cooperative driving applications that are currently under study. These applications offer significant improvements over current advanced driver assistant systems such as adaptive cruise control (ACC). The primary motivation of CACC and Platooning is to reduce traffic congestion and improve traffic flow, traffic throughput, and highway capacity. These applications need an efficient controller to consider the computational cost and ensure driving comfort and high responsiveness. The advantage of Model Predictive Control is that we can realize high control performance since all constrain for these applications can be explicitly dealt with through solving an optimization problem. These applications highly depend on information update and Communication reliability for their safety and stability purposes. In this paper, we propose a Model Predictive Control (MPC) based approach for CACC and platooning, and examine the impact of communication loss on the performance and robustness of the control scheme. The results show an improvement in response time and string stability, demonstrating the potential of cooperation to attenuate disturbances and improve traffic flow.