Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle
Cooperative adaptive cruise control (CACC) is one of the control methods that improves fuel efficiency by allowing multiple vehicles to drive in groups. In this paper, we propose a robust CACC with a heterogeneous vehicle using a disturbance observer. The longitudinal vehicle dynamics, including the...
| 出版年: | Energies |
|---|---|
| 第一著者: | |
| フォーマット: | 論文 |
| 言語: | 英語 |
| 出版事項: |
MDPI AG
2024-03-01
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| 主題: | |
| オンライン･アクセス: | https://www.mdpi.com/1996-1073/17/6/1429 |
| _version_ | 1850379926787588096 |
|---|---|
| author | Chang Mook Kang |
| author_facet | Chang Mook Kang |
| author_sort | Chang Mook Kang |
| collection | DOAJ |
| container_title | Energies |
| description | Cooperative adaptive cruise control (CACC) is one of the control methods that improves fuel efficiency by allowing multiple vehicles to drive in groups. In this paper, we propose a robust CACC with a heterogeneous vehicle using a disturbance observer. The longitudinal vehicle dynamics, including the engine dynamics, have been modeled as a first-order model using a time constant. However, the simplified first-order model varies in accuracy depending on the dynamic driving situation due to engine performance and air drag force. Designing a more accurate higher-order model might be a solution, but this has a high computational cost. Thus, we propose an augmented state observer for model uncertainties and disturbances. The proposed method makes it possible to design a CACC using nominal parameters without considering dynamic changes to the model parameters. Also, the proposed method can directly compensate for disturbances, compared to the adaptation technique, while also satisfying string stability. The proposed method was validated via computational simulations for heterogeneous traffic and experimental evaluation. |
| format | Article |
| id | doaj-art-e00fe3e4e0094856abc120f737b0d050 |
| institution | Directory of Open Access Journals |
| issn | 1996-1073 |
| language | English |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| spelling | doaj-art-e00fe3e4e0094856abc120f737b0d0502025-08-19T22:57:53ZengMDPI AGEnergies1996-10732024-03-01176142910.3390/en17061429Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous VehicleChang Mook Kang0Department of Electrical Engineering, Incheon National University, Incheon 22012, Republic of KoreaCooperative adaptive cruise control (CACC) is one of the control methods that improves fuel efficiency by allowing multiple vehicles to drive in groups. In this paper, we propose a robust CACC with a heterogeneous vehicle using a disturbance observer. The longitudinal vehicle dynamics, including the engine dynamics, have been modeled as a first-order model using a time constant. However, the simplified first-order model varies in accuracy depending on the dynamic driving situation due to engine performance and air drag force. Designing a more accurate higher-order model might be a solution, but this has a high computational cost. Thus, we propose an augmented state observer for model uncertainties and disturbances. The proposed method makes it possible to design a CACC using nominal parameters without considering dynamic changes to the model parameters. Also, the proposed method can directly compensate for disturbances, compared to the adaptation technique, while also satisfying string stability. The proposed method was validated via computational simulations for heterogeneous traffic and experimental evaluation.https://www.mdpi.com/1996-1073/17/6/1429cooperative adaptive cruise controldisturbance observervehicle longitudinal control |
| spellingShingle | Chang Mook Kang Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle cooperative adaptive cruise control disturbance observer vehicle longitudinal control |
| title | Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle |
| title_full | Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle |
| title_fullStr | Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle |
| title_full_unstemmed | Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle |
| title_short | Disturbance Observer-Based Robust Cooperative Adaptive Cruise Control Approach under Heterogeneous Vehicle |
| title_sort | disturbance observer based robust cooperative adaptive cruise control approach under heterogeneous vehicle |
| topic | cooperative adaptive cruise control disturbance observer vehicle longitudinal control |
| url | https://www.mdpi.com/1996-1073/17/6/1429 |
| work_keys_str_mv | AT changmookkang disturbanceobserverbasedrobustcooperativeadaptivecruisecontrolapproachunderheterogeneousvehicle |