Experimental Implementation and Validation of Predictor-Based CACC for Vehicular Platoons With Distinct Actuation Delays
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866918107039137792 |
|---|---|
| author | Samii, Amirhossein de Haan, Redmer Bekiaris-Liberis, Nikolaos |
| author_facet | Samii, Amirhossein de Haan, Redmer Bekiaris-Liberis, Nikolaos |
| contents | We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to long actuation delays that may be distinct for each individual vehicle. We provide the explicit formulae of the control design that is implemented, accounting for the effect of zero-order hold and sampled measurements; as well as we obtain vehicle and string stability conditions numerically, via derivation of the transfer functions relating the speeds of pairs of consecutive vehicles. We also present consistent simulation results for a platoon with a larger number of vehicles, under digital implementation of the controller. Both the simulation and experimental results confirm the effectiveness of the predictor-based CACC design in guaranteeing individual vehicle stability, string stability, and tracking, despite long/distinct actuation delays. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_21579 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Experimental Implementation and Validation of Predictor-Based CACC for Vehicular Platoons With Distinct Actuation Delays Samii, Amirhossein de Haan, Redmer Bekiaris-Liberis, Nikolaos Systems and Control We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to long actuation delays that may be distinct for each individual vehicle. We provide the explicit formulae of the control design that is implemented, accounting for the effect of zero-order hold and sampled measurements; as well as we obtain vehicle and string stability conditions numerically, via derivation of the transfer functions relating the speeds of pairs of consecutive vehicles. We also present consistent simulation results for a platoon with a larger number of vehicles, under digital implementation of the controller. Both the simulation and experimental results confirm the effectiveness of the predictor-based CACC design in guaranteeing individual vehicle stability, string stability, and tracking, despite long/distinct actuation delays. |
| title | Experimental Implementation and Validation of Predictor-Based CACC for Vehicular Platoons With Distinct Actuation Delays |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2507.21579 |