Space Domain based Ecological Cooperative and Adaptive Cruise Control on Rolling Terrain
<|reference_start|>Space Domain based Ecological Cooperative and Adaptive Cruise Control on Rolling Terrain: Ecological Cooperative and Adaptive Cruise Control (Eco-CACC) is widely focused to enhance sustainability of CACC. However, state-of-the-art Eco-CACC studies are still facing challenges in adopting on rolling terrain. Furthermore, they cannot ensure both ecology optimality and computational efficiency. Hence, this paper proposes a nonlinear optimal control based Eco-CACC controller. It has the following features: i) enhancing performance across rolling terrains by modeling in space domain; ii) enhancing fuel efficiency via globally optimizing all vehicle's fuel consumptions; iii) ensuring computational efficiency by developing a differential dynamic programming-based solving method for the non-linear optimal control problem; iv) ensuring string stability through theoretically proving and experimentally validating. The performance of the proposed Eco-CACC controller was evaluated. Results showed that the proposed Eco-CACC controller can improve average fuel saving by 37.67% at collector road and about 17.30% at major arterial.<|reference_end|>
@article{lei2024space,
    title={Space Domain based Ecological Cooperative and Adaptive Cruise Control on
  Rolling Terrain},
    author={Mingyue Lei, Haoran Wang, Lu Xiong, Jaehyun (Jason) So, Ashish
  Dhamaniya, Jia Hu},
    journal={arXiv preprint arXiv:2405.07553},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.07553},
    primaryClass={cs.RO}
}