Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions
Abstract
:1. Introduction
2. Related Work
3. Model for Vehicle Dynamics
4. Design of Control Strategy
4.1. Longitudinal Control
4.2. Lateral Control
5. Simulation Analysis
5.1. Trajectory Generation and Parameter Calculation
5.2. Numerical Simulation
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Parameter | Value |
---|---|
wheel base () | 1.5 m |
initial position (Leader) | m |
initial orientation (Leader) | 0 rad |
initial position (Follower 1) | m |
initial orientation (Follower 1) | 0 rad |
initial position (Follower 2) | m |
initial orientation (Follower 2) | 0 rad |
initial position (Follower 3) | m |
initial orientation (Follower 3) | 0 rad |
initial position (Follower 4) | m |
initial orientation (Follower4) | 0 rad |
initial velocity (Leader) | 15 m/s |
longitudinal control parameters () | 2.8 |
longitudinal control parameters () | 1.2 |
longitudinal control parameters () | 2 |
lateral control parameters () | 8 |
lateral control parameters () | 1 |
Scene | ||||
---|---|---|---|---|
Lane Changing | 15 | 7.2 | 7.58 | 0.0018 |
20 | 6.54 | 7.72 | 0.0018 | |
Turning | 15 | 4.02 | 4.74 | 0.0815 |
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Ren, P.; Jiang, H.; Xu, X. Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions. Sensors 2023, 23, 1888. https://doi.org/10.3390/s23041888
Ren P, Jiang H, Xu X. Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions. Sensors. 2023; 23(4):1888. https://doi.org/10.3390/s23041888
Chicago/Turabian StyleRen, Pingli, Haobin Jiang, and Xian Xu. 2023. "Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions" Sensors 23, no. 4: 1888. https://doi.org/10.3390/s23041888