PRACA ORYGINALNA
Car Platooning String Stability Analysis for Automatic Longitudinal Control in Automated Highway Systems
1
Faculty of Transportation Mechanical Engineering, The University of Danang - University of Science and Technology, 54 Nguyen Luong Bang, Da Nang 550000, Vietnam
2
Faculty of Electrical Engineering, the University of Danang - University of Science and Technology, Viet Nam
3
Faculty of Transportation Mechanical Engineering,, The University of Danang - University of Science and Technology, 54 Nguyen Luong Bang, Da Nang 550000, Vietnam
4
Faculty of Mechanical - Automotive and Civil Engineering, Electric Power University, Viet Nam
Data nadesłania: 13-06-2025
Data ostatniej rewizji: 04-09-2025
Data akceptacji: 08-09-2025
Data publikacji: 29-09-2025
Autor do korespondencji
Lich Duc Luu
Faculty of Transportation Mechanical Engineering, The University of Danang - University of Science and Technology, 54 Nguyen Luong Bang, Da Nang 550000, Vietnam
Faculty of Transportation Mechanical Engineering, The University of Danang - University of Science and Technology, 54 Nguyen Luong Bang, Da Nang 550000, Vietnam
The Archives of Automotive Engineering – Archiwum Motoryzacji 2025;109(3):62-79
SŁOWA KLUCZOWE
DZIEDZINY
STRESZCZENIE
Forming car platoons and managing them through automation allows cars to travel with shorter gaps, which contributes to increasing road throughput, lowering fuel use, and cutting emissions. However, minimizing inter-vehicle spacing must comply with the principle of string stability. This paper introduces a Linear Quadratic Integral Regulator (LQIR) tailored for the Adaptive Cruise Control strategy within a platoon of cars. The regulator integrates two additional states to guarantee both effective tracking and preservation of string stability. Furthermore, a heuristic procedure is proposed to select the Constant Time Headway Policy (CTHP) as a means of achieving stability. The selection routine combines an examination of the magnitude frequency response with an inspection of the pole–zero distribution of the spacing-error transfer function between successive cars. Using this approach, a comparative investigation is carried out for two autonomous Adaptive Cruise Control architectures: one based on absolute position feedback and another on measured inter-vehicle distance.
REFERENCJE (22)
1.
Aron C, Florin M. Current approaches in traffic lane detection: a minireview. The Archives of Automotive Engineering – Archiwum Motoryzacji. 2024;104(2):19–47. https://doi.org/10.14669/AM/19....
2.
Mohammed D, Nagy V, Jagicza M, Józsa D, Horváth B. Efficiency of adaptive cruise control in commercial vehicles. Pollack Periodica. 2024;19(2):1–7. https://doi.org/10.1556/606.20....
3.
Li Y, Zhang W, Zhang S, Pan Y, Zhou B, Jiao S, et al. An improved eco-driving strategy for mixed platoons of autonomous and human-driven vehicles. Physica A: Statistical Mechanics and its Applications. 2024;641:129733. https://doi.org/10.1016/j.phys....
4.
Pan C, Huang A, Chen L, Cai Y, Chen L, Liang J, et al. A review of the development trend of adaptive cruise control for ecological driving. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2022; 236(9):1931–1948. https://doi.org/10.1177/095440....
5.
Yang J, Chu D, Lu L, Meng Z, Deng K. Model-data-driven control for human-leading vehicle platoon. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2025;239(7):2616–2636. https://doi.org/10.1177/095440....
6.
Zainuddin MA, Abdullah M, Ahmad S, Tofrowaih KA. Performance comparison between predictive functional control and PID algorithms for automobile cruise control system. International Journal of Automotive and Mechanical Engineering. 2022;19(1):9460–9468. https://doi.org/10.15282/ijame....
7.
Abdullah SI, Zainuddin MA, Abdullah M, Tofrowaih KA. Analysis of a Simplified Predictive Function Control Formulation Using First Order Transfer Function for Adaptive Cruise Control. International Journal of Automotive and Mechanical Engineering. 2024;21(3):11641–11651. https://doi.org/10.15282/ijame....
8.
Zainuddin MA, Abdullah M, Ahmad S, Uzir MS, Baidowi ZM. Performance analysis of predictive functional control for automobile adaptive cruise control system. IIUM Engineering Journal. 2023;24(1):213–225. https://doi.org/10.31436/iiume....
9.
Shang M, Stern RE. Impacts of commercially available adaptive cruise control vehicles on highway stability and throughput. Transportation research part C: Emerging technologies. 2021;122:102897. https://doi.org/10.1016/j.trc.....
10.
Gunter G, Gloudemans D, Stern RE, McQuade S, Bhadani R, Bunting M, et al. Are commercially implemented adaptive cruise control systems string stable?. IEEE Transactions on Intelligent Transportation Systems. 2020;22(11):6992–7003. https://10.1109/TITS.2020.3000....
11.
Zhang Y, Bai Y, Hu J, Wang M. Control design, stability analysis, and traffic flow implications for cooperative adaptive cruise control systems with compensation of communication delay. Transportation Research Record. 2020;2674(8):638–652. https://doi.org/10.1177/036119....
12.
Abdullah M, Zainuddin MS, Ahmad S, Rossiter J. Performance comparison between centralized and hierarchical predictive functional control for adaptive cruise control application. International Journal of Automotive and Mechanical Engineering. 2023;20(4):10808–10820. https://doi.org/10.15282/ijame....
13.
Chen Q, Gan L, Jiang Z, Xu Z, Zhang X. Study on multi-objective adaptive cruise control of intelligent vehicle based on multi-mode switching. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2024;238(14):4505–4517. https://doi.org/10.1177/095440....
14.
Luo L, Liu Y, Feng Y, Liu HX, Ge YE. Stabilizing traffic flow by autonomous vehicles: Stability analysis and implementation considerations. Transportation research part C: Emerging technologies. 2024;158:104449. https://doi.org/10.1016/j.trc.....
15.
Luu L, Phan TL, Pham HT, Hoang T, Le MT. Stability of adaptive cruise control of automated vehicle platoon under constant time headway policy. International Journal of Automotive Science and Technology. 2024;8(3):397–403. https://doi.org/10.30939/ijast....
16.
Darbha S, Konduri S, Pagilla PR. Benefits of V2V communication for autonomous and connected vehicles. IEEE Transactions on Intelligent Transportation Systems. 2019;20(5):1954–1963. https://doi.org/10.1109/TITS.2....
17.
Abolfazli E, Besselink B, Charalambous T. Minimum time headway in platooning systems under the MPF topology for different wireless communication scenario. IEEE Transactions on Intelligent Transportation Systems. 2023;24(4):4377–4390. https://doi.org/10.1109/TITS.2....
18.
Köroğlu H. String-stable cooperative adaptive cruise control with minimized time headway in the face of delayed communication. IEEE Control Systems Letters. 2024;8:400–405. https://doi.org/10.1109/LCSYS.....
19.
Lu XY, Shladover S. Integrated ACC and CACC development for heavy-duty truck partial automation. Proceedings of the American Control Conference. 2017:4938–4945. https://doi.org/10.23919/ACC.2....
20.
Bian Y, Zheng Y, Ren W, Li SE, Wang J, Li K. Reducing time headway for platooning of connected vehicles via V2V communication. Transportation Research Part C: Emerging Technologies. 2019;102:87–105. https://doi.org/10.1016/j.trc.....
21.
Ibrahim A, Goswami D, Li H, Soroa IM, Basten T. Multi-layer multi-rate model predictive control for vehicle platooning under IEEE 802.11p. Transportation Research Part C: Emerging Technologies. 2021;124:102905. https://doi.org/10.1016/j.trc.....
22.
Wu C, Xu Z, Liu Y, Fu C, Li K, Hu M. Spacing policies for adaptive cruise control: A survey. IEEE Access. 2020;8:50149–50162. https://doi.org/10.1109/ACCESS....
Korzystamy z plików cookie (oraz innych podobnych technologii) i przetwarzamy unikalne identyfikatory oraz dane przeglądarki – w celu umożliwienia funkcjonowania naszej strony internetowej. Więcej informacji o tym jak przetwarzamy Twoje dane osobowe znajdziesz w
