Comparative Analysis of Advanced Cooperative Adaptive Cruise Control Algorithms for Vehicular Cyber Physical Systems

Abstract

Nowadays the number of vehicles on the roads is progressively increasing this leading to asaturation of the traffic. In order to reduce the travel times and to increase the drivers’ comfort a series ofAdvanced Driver Assistance Systems (ADAS) that assist the drivers in cities or on highways weredeveloped. The need of increasing the roads’ capacities conducted to a concept named vehicle platooningin which the vehicles are grouped in convoys and they move as a single entity with the same velocity onthe same lane. Beside simple radar devices that measure the distance to the vehicle in front the studiedplatoons contain followers equipped with wireless communication systems (WCS). This feature offers tothe followers the possibility to anticipate the behaviour of its predecessor considering that they receivethe velocity or acceleration from the front vehicle through WCS. This type of vehicle platoon can beviewed as being composed of two layers: a virtual one, called cyber plane, consisting of thecommunication messages themselves and a real one, called physical plane, represented by the vehicles inthe platoon. The paper presents a comparative analysis of two cyber-physical systems implemented withdedicated algorithms from literature (GPC and LQR) at which were added a series of doctoral researchesthat cover the case study related to vehicle platooning for city and highway travelling. Each consideredplatoon is a hybrid system composed of CC system for leader and CACC systems for followers. Allproposed algorithms were simulated in MATLAB/Simulink and the results were analyzed providingsome conclusions related to their efficiency.