Robust Cooperative Adaptive Cruise Control by Self-Adapting Uncertainty Compensator in Heterogeneous Vehicle Platooning

Abstract

Precise longitudinal control in autonomous driving has been challenged by abrupt actuator dynamics changes. While Cooperative Adaptive Cruise Control (CACC) leverages vehicle-to-vehicle communication to improve upon Adaptive Cruise Control (ACC), it struggles with varying intrinsic parameter due to vehicle and environmental variation. Existing methods treat actuator behavior as static, relying on disturbance estimation, leading to jerky motion. This paper proposes a novel endogenous uncertainty compensator approach using self-adaptation feedforward controller with non-linearly estimated response parameter in real-time. CACC Simulation results showed up to 96 % spacing error reduction, and accurate actuator parameter estimation, demonstrating strong potential for improving stability and safety in CACC.