Using fractional calculus for Cooperative car-following Control

The Cooperative Adaptive Cruise Control (CACC) is one of the most promising aiding systems to improve traffic flow in highways. When it comes to design a proper control algorithm, robustness against non-modeled dynamics and noise plays a key role not only for improving controller performance but also for increasing the ability of handling heterogeneous vehicle strings. This paper proposes a fractional order controller that is able to deal with non-modeled dynamics whereas keeping simplicity and a low computational cost. System robustness and string stability responses are analyzed for a string of six vehicles, showing a good performance.

[1]  H. Fritz,et al.  CHAUFFEUR Assistant: a driver assistance system for commercial vehicles based on fusion of advanced ACC and lane keeping , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[2]  Payman Shakouri,et al.  Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers , 2011 .

[3]  David González,et al.  Low-speed cooperative car-following fuzzy controller for cybernetic transport systems , 2014, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[4]  I. Tejado,et al.  Low speed control of an autonomous vehicle using a hybrid fractional order controller , 2011, The 2nd International Conference on Control, Instrumentation and Automation.

[5]  D. Swaroop,et al.  A review of constant time headway policy for automatic vehicle following , 2001, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585).

[6]  YangQuan Chen,et al.  Fractional-order systems and control : fundamentals and applications , 2010 .

[7]  M. Caputo Linear models of dissipation whose Q is almost frequency independent , 1966 .

[8]  Igor Podlubny,et al.  Fractional-order systems and PI/sup /spl lambda//D/sup /spl mu//-controllers , 1999 .

[9]  Nathan van de Wouw,et al.  Design and experimental evaluation of cooperative adaptive cruise control , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[10]  Concepción A. Monje,et al.  Introducción al Control Fraccionario , 2006 .

[11]  Bart van Arem,et al.  Improving Traffic Flow Efficiency by In-Car Advice on Lane, Speed, and Headway , 2014, IEEE Transactions on Intelligent Transportation Systems.

[12]  Xavier Moreau,et al.  From the second generation CRONE control to the CRONE suspension , 1993, Proceedings of IEEE Systems Man and Cybernetics Conference - SMC.

[13]  I. Podlubny Fractional-Order Systems and -Controllers , 1999 .

[14]  J. K. Hedrick,et al.  Constant Spacing Strategies for Platooning in Automated Highway Systems , 1999 .

[15]  Geert J. Heijenk,et al.  Connect & Drive: design and evaluation of cooperative adaptive cruise control for congestion reduction , 2011 .

[16]  K. B. Oldham,et al.  The Fractional Calculus: Theory and Applications of Differentiation and Integration to Arbitrary Order , 1974 .

[17]  Bart van Arem,et al.  The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics , 2006, IEEE Transactions on Intelligent Transportation Systems.

[18]  YangQuan Chen,et al.  Fractional-order Systems and Controls , 2010 .

[19]  YangQuan Chen,et al.  Tuning and auto-tuning of fractional order controllers for industry applications , 2008 .

[20]  Y. Chen,et al.  A comparative introduction of four fractional order controllers , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[21]  Vicente Milanés Montero,et al.  Experimental Application of Hybrid Fractional-Order Adaptive Cruise Control at Low Speed , 2014, IEEE Transactions on Control Systems Technology.

[22]  Martin Lauer,et al.  Team AnnieWAY's Entry to the 2011 Grand Cooperative Driving Challenge , 2012, IEEE Transactions on Intelligent Transportation Systems.

[23]  Thomas Engel,et al.  Improving highway traffic through partial velocity synchronization , 2012, 2012 IEEE Global Communications Conference (GLOBECOM).

[24]  G Naus,et al.  Cooperative adaptive cruise control, design and experiments , 2010, Proceedings of the 2010 American Control Conference.

[25]  Vicente Milanés Montero,et al.  Cooperative Adaptive Cruise Control in Real Traffic Situations , 2014, IEEE Transactions on Intelligent Transportation Systems.

[26]  Steven E Shladover,et al.  Cooperative Adaptive Cruise Control: Driver Acceptance of Following Gap Settings Less than One Second , 2010 .