On the effectiveness of the Extended Cooperative Adaptive Control for Vehicles Platooning

In this paper we investigate the performance and effectiveness of the extended cooperative adaptive cruise control algorithm (ECACC) recently presented in ill by embedding it into a two-stage control architecture which is the state-of-the-art when implementing cooperative adaptive cruise control (CACC) algorithms or advanced driving assistance systems (ADAS). The algorithm has been proven to be robust with respect to time-varying communication delays and to be flexible with respect to generic underlying vehicular communication topologies, and, hence, before its practical implementation, the idea is to investigate its robustness with respect to switching topologies, that may arise because of wireless failures and recoveries, as well as severe uncertainty on engine/vehicles dynamics and downgraded performances of the lower-level controller necessary to actuate the accelerations planned by the EACC.