A Receding Horizon Approach for Designing String Stable Cooperative Adaptive Cruise Control

Paper i proceeding, 2011

A time domain approach for designing string stable cooperative adaptive cruise control is proposed. The receding horizon scheme is used to design the controller while guaranteeing string stability and collision avoidance. The original frequency domain definition of string stability is revised for time domain design and a new criterion for predecessor- following string stability of a heterogeneous platoon based on the acceleration profile is defined and used. Simulation and experimental results shows the effectiveness of the method.