Abstract:
In recent years automated driving have attracted more attention, as many autonomous
features are evolving to a more intelligent stage. Cooperative adaptive cruise control (CACC)
an important and challenging control problem. The motivation for developing intelligent
system is to increase safety during driving. Most of the research on this topic considers
kinematic model of vehicle with PID controller used for comfort and safety. The current
work addresses CACC problem considering Engine Model with fuel parameter to improve
fuel efficiency and maintaining desired headway. Safe distance is maintained from preceding
vehicle by the help of different sensors. System measures distance form preceding vehicle
through sensor and take information of position, velocity and acceleration. Pontryagin’s
Minimum Principle (PMP) is used to optimize the cost function, numerical algorithm is used
to solve the optimization problem. Pontryagin’s Minimum Principle (PMP) produced better
results than PID with improved fuel efficiency and accurate distance between vehicles.
