A multi-mode cooperative adaptive cruise switching control model for connected vehicles considering abnormal communication

With the development of vehicle-to-vehicle (V2V)/vehicle-to-infrastructure (V2I) communication systems, the spacing between two vehicles is shortened effectively and the traffic efficiency is improved. Meanwhile, abnormal wireless communication caused by time-delay, packet-dropout and failure brings the new traffic security problem. In this paper, the connected vehicle platoons is taken as the research object. Firstly, a traditional cooperative adaptive cruise control (CACC) system is established based on distributed controller; secondly, according to the influence of abnormal wireless communication, a multi-mode switching control model is presented to improve the CACC controller; thirdly, according to the conditions of string stability, the ranges of controller parameters and constant time headway (CTH) are obtained; finally, the feasibility of the controller is simulated based on Matlab/Simulink. The test results show that the multi-mode CACC controller can not only avoid the influence of abnormal communication on intelligent connected vehicle platoon, but also ensure the string stability under the smaller driving spacing in the meantime.