Networked Model for Cooperative Adaptive Cruise Control

Philip E. Paré, Ehsan Hashemi, Raphael Stern, Henrik Sandberg, Karl Henrik Johansson

Research output: Contribution to journalConference articlepeer-review


This paper proposes a cooperative adaptive cruise control model, adding a communication network structure to an existing model that has been shown to capture real commercial adaptive cruise control vehicle behavior. The proposed model is interesting because it only requires minimal information sharing, facilitating the creation of platoons comprised of vehicles from different manufacturers. We prove the stability of the model and discuss string stability. Algorithms for estimating the velocity of the vehicles locally and for estimating the velocities of all the vehicles in the platoon are presented. We simulate vehicle platoon control with the lead vehicle following an experimentally collected trajectory, showing that adding communication can cause a string unstable platoon to become stable.

Original languageEnglish (US)
Pages (from-to)151-156
Number of pages6
Issue number20
StatePublished - 2019
Externally publishedYes
Event8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019 - Chicago, United States
Duration: Sep 16 2019Sep 17 2019

Bibliographical note

Publisher Copyright:
© 2019 IFAC-PapersOnLine. All rights reseved.

Copyright 2020 Elsevier B.V., All rights reserved.


  • Intelligent cruise control
  • Networks
  • Semi-autonomous vehicles
  • Traffic control


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