Abstract:
Cooperative adaptive cruise control entails regulating the distance towards a preceding road vehicle, employing both on-board environmental sensors and wireless inter-veh...Show MoreMetadata
Abstract:
Cooperative adaptive cruise control entails regulating the distance towards a preceding road vehicle, employing both on-board environmental sensors and wireless inter-vehicle communication, the latter necessary for acceleration information, which cannot be directly measured by on-board sensors. However, in case of communication impairments, such as high latency or significant packet loss, a degraded mode is required, to which end the acceleration of the preceding vehicle must be estimated using on-board sensors such as radar. Fast convergence towards the actual preceding vehicle acceleration is imperative for ensuring the cooperative driving safety. Consequently, we propose a sliding-mode based estimator ensuring the finite-time convergence of the acceleration estimation error, and hence, ensuring the functionality of the CACC in degraded situations.
Date of Conference: 08-12 October 2022
Date Added to IEEE Xplore: 01 November 2022
ISBN Information:
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- IEEE Keywords
- Index Terms
- Sliding Mode ,
- Acceleration Estimation ,
- Cooperative Adaptive Cruise Control ,
- Estimation Error ,
- Faster Convergence ,
- Packet Loss ,
- Onboard Sensors ,
- Vehicle Acceleration ,
- Vehicular Ad Hoc Networks ,
- Acceleration Information ,
- Numerical Results ,
- Control Input ,
- Constant Speed ,
- Eigenvalues Of Matrix ,
- Finite Time ,
- Autonomous Vehicles ,
- Lyapunov Function ,
- Settling Time ,
- Vehicle Dynamics ,
- Speed Profile ,
- V2V Communication ,
- Emergency Braking ,
- Sliding Mode Observer
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Sliding Mode ,
- Acceleration Estimation ,
- Cooperative Adaptive Cruise Control ,
- Estimation Error ,
- Faster Convergence ,
- Packet Loss ,
- Onboard Sensors ,
- Vehicle Acceleration ,
- Vehicular Ad Hoc Networks ,
- Acceleration Information ,
- Numerical Results ,
- Control Input ,
- Constant Speed ,
- Eigenvalues Of Matrix ,
- Finite Time ,
- Autonomous Vehicles ,
- Lyapunov Function ,
- Settling Time ,
- Vehicle Dynamics ,
- Speed Profile ,
- V2V Communication ,
- Emergency Braking ,
- Sliding Mode Observer