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Cooperative Adaptive Cruise Control in Vehicle Platoon under Environment of i-VICS

With the rapid development in vehicular communication technologies, driving assistance systems of intelligent vehicles can provide promising efficiency, safety and sustainability to the intelligent transportation systems. In this paper, a cooperative adaptive cruise control (CACC) approach is proposed for vehicle platoon under the environment of Intelligent Vehicle Infrastructure Cooperative Systems (i-VICS). The cooperative adaptive cruise control problem consists of three parts, the vehicle dynamics, longitudinal control and lateral control. Moreover, the packet loss ratio and time delay are taken into account in the simulation to investigate their impacts on the performance of CACC. Furthermore, some field tests are carried out with two autonomous vehicles to verify the effectiveness of the proposed method. According to the results of simulation and field tests, the proposed CACC approach shows great benefits on longitudinal and lateral control in vehicle platoon.