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Improvements on the Maximum Allowable Transmission Interval in String Stable Estimator-Enhanced Cooperative Adaptive Cruise Control

This paper presents a control architecture that relaxes the communication requirements for achieving a low inter-vehicle distance compared to Cooperative Adaptive Cruise Control (CACC). Previous work showed that CACC achieves a low inter-vehicle distance of a longitudinal platoon without amplifying oscillations throughout the platoon, i.e., the system is string stable. However, it requires the transmission of control information through a wireless link that discretizes the information, introduces delays, and could lose meaningful updates due to packet loss, imposing communications requirements to ensure the platoon's string stability. This work proposes an Estimator Enhanced CACC (EE-CACC) architecture that improves the Maximum Allowable Transmission Interval (MATI) by 20% compared to CACC. This control architecture uses the acceleration estimation and transmits the estimation's error to improve the receiver's reconstruction of the control signal, effectively reducing the communication requirements.