Method of compensation for the mechanical response of connected adaptive cruise control vehicles

Abstract A new method of compensation for the vehicle mechanical response in a platoon of identical connected adaptive cruise control (CACC) vehicles is presented. It is assumed that each vehicle wirelessly transmits its desired acceleration to the following vehicle. The velocity of the preceding vehicle and the gap between vehicles is measured by sensors such as radar or lidar. In the absence of sensor delay and communication errors, the new method of compensation yields a transfer function identical to that for instantaneous response. String stability of the platoon is proven, and simulations demonstrate the effectiveness of the approach.