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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.01795 |
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| _version_ | 1866912998260473856 |
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| author | Böhm, Johannes Schöneberg, Eric Schmidt, Kevin Fischer, Wolfgang Görges, Daniel |
| author_facet | Böhm, Johannes Schöneberg, Eric Schmidt, Kevin Fischer, Wolfgang Görges, Daniel |
| contents | This paper proposes a dynamic distance adaptation for Cooperative Adaptive Cruise Control (CACC) under time-varying network conditions. When the Quality of Service (QoS) drops below a level required to maintain desired inter-vehicle distances, an online adaptation of the reference distances, reflected by a change of the time headway factor, becomes necessary. We present a control design algorithm realizing a graceful degradation, for which a distance control to a virtual preceding vehicle is introduced. Furthermore, the Integral Quadratic Constraints (IQC) framework is applied to guarantee robust stability of the time-varying system. The concept is validated in simulation and experimentally using small-scale test vehicles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_01795 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Cooperative Adaptive Cruise Control with Variable Time Headway for Graceful Degradation under Fluctuating Network Quality of Service Böhm, Johannes Schöneberg, Eric Schmidt, Kevin Fischer, Wolfgang Görges, Daniel Systems and Control This paper proposes a dynamic distance adaptation for Cooperative Adaptive Cruise Control (CACC) under time-varying network conditions. When the Quality of Service (QoS) drops below a level required to maintain desired inter-vehicle distances, an online adaptation of the reference distances, reflected by a change of the time headway factor, becomes necessary. We present a control design algorithm realizing a graceful degradation, for which a distance control to a virtual preceding vehicle is introduced. Furthermore, the Integral Quadratic Constraints (IQC) framework is applied to guarantee robust stability of the time-varying system. The concept is validated in simulation and experimentally using small-scale test vehicles. |
| title | Cooperative Adaptive Cruise Control with Variable Time Headway for Graceful Degradation under Fluctuating Network Quality of Service |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.01795 |