Decentralized longitudinal tracking control for Cooperative Adaptive Cruise Control systems based on multiple V2V communication

This paper presents a novel control law for Cooperative Adaptive Cruise Control(CACC) Approach: multiple V2V communication-based tracking law. Compared to tpe existent CACC system, the communication between the host vehicle and the front vehicles is added to design the expected velocity and acceleration which improve the tracking capacity and string stability comprehensively. A sufficient and necessary frequency-domain criterion of string stability is applied. It is shown that for a velocity-dependent inter-vehicle spacing policy, the string stability is related to the headway time. To validate the theoretical results, numerous simulation of a heterogeneous platoon of five vehicles is depicted by adopting a variable transmission delay and data loss. The results are discussed which indicates the advantages of the design of the new decentralized tracking system.