Fractional-Order-Based ACC/CACC Algorithm for Improving String Stability

Carlos Flores (1) , Vicente Milanés (2)

1 RITS - Robotics & Intelligent Transportation Systems
2 Technocentre Renault [Guyancourt]

Traffic flow optimization and driver comfort enhancement are the main contributions of an Adaptive Cruise Control (ACC) system. If communication links are added, more safety and shorter gaps can be reached performing a Cooperative-ACC (CACC). Although shortening the inter-vehicular distances directly improves traffic flow, it can cause string unstable behavior. This paper presents fractional-order-based control algorithms to enhance the car-following and string stability performance for both ACC and CACC vehicle strings, including communication temporal delay effects. The proposed controller is compared with state-of-the-art implementations, exhibiting better performance. Simulation and real experiments have been conducted for validating the approach.

Mots clés: Adaptive Cruise Control; Cooperative Adaptive Cruise Control; String Stability; Fractional-Order Calculus; Cooperative Systems; Intelligent Transportation Systems

Domaines: Automatique / Robotique

Carlos Flores, Vicente Milanés. Fractional-Order-Based ACC/CACC Algorithm for Improving String Stability. Transportation research. Part C, Emerging technologies, In press. ⟨hal-01896558⟩