Cooperative Adaptive Cruise Control with Fuel Efficiency Using PMP Technique

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.