Observer-Based Packet Drop Mitigation for String Stable CACC
Villamil A, González A, Franchi N, Fettweis G (2019)
Publication Type: Conference contribution
Publication year: 2019
Publisher: Association for Computing Machinery
Pages Range: 62-67
Conference Proceedings Title: ACM International Conference Proceeding Series
Event location: Jeju Island
ISBN: 9781450372527
Abstract
This paper proposes a solution to increase the probability of a wirelessly interconnected platoon of vehicles being string stable under packet loss conditions without imposing additional requirements on the communications system. The string stability of a cooperative adaptive cruise control (CACC) is known to be achievable if no communication errors occur. However, this is an assumption hard to achieve, in particular for wireless communications. The proposed system consists of a CACC controller that switches between the signal transmitted from the previous vehicle (when available) and the estimated signal from an observer. This paper shows that the inclusion of an observer can improve the performance of the quality of control when packet losses are considered.
Authors with CRIS profile
Involved external institutions
Germany (DE)How to cite
APA:
Villamil, A., González, A., Franchi, N., & Fettweis, G. (2019). Observer-Based Packet Drop Mitigation for String Stable CACC. In ACM International Conference Proceeding Series (pp. 62-67). Jeju Island, KR: Association for Computing Machinery.
MLA:
Villamil, Andrés, et al. "Observer-Based Packet Drop Mitigation for String Stable CACC." Proceedings of the 2nd International Conference on Control and Robot Technology, ICCRT 2019, Jeju Island Association for Computing Machinery, 2019. 62-67.
BibTeX: Download