Stochastic Cooperative Adaptive Cruise Control With Sensor Data Distortion and Communication Delay

Despite remarkable achievements have been obtained for the connected and automated vehicles (CAVs) in last decades, various of realistic problems still exist, which exactly block the large-scale application of CAVs. Against this backdrop, this paper proposes a novel stochastic cooperative adaptive cruise control (CACC) strategy to realize the stable control of nonhomogeneous vehicle platoon system with simultaneously suffering from the on-board sensor data distortion, random wind disturbance, and communication delay. First, the dynamics model of the nonhomogeneous platoon with variant vehicle masses and lengths is built based on the predecessor-leader following (PLF) communication topology. Then, the simplified characteristic of sensor data distortion resulting from the limited sensing range is depicted in line with the variation of headway spacing. Thereafter, the random wind velocity is treated as the Gaussian white noise and incorporated into the platoon system via employing the Ito stochastic differential. The varying road slope and communication delay are also accommodated in unison. Next, the distributed robust $H\infty $ controller is generated via the stochastic Lyapunov-Krasovskii functional approach. Moreover, the condition for string stability is derived with the defined stochastic ${\mathcal { L}}_{2}$ stability criterion. Finally, numerical simulations and real-time hardware in loop (HiL) experiment demonstrate the feasibility of the proposed approach.