The Stability with Time Delays in Cacc System and Reconstitution Information of Vehiclescompensating Delays Based on Bi-Lstm

作     者：Zhang, Chenmin Liu, Yonggui Li, Zeming 

作者机构：Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou510641 China 

出 版 物：《SSRN》 

年 卷 期：2024年

核心收录：

主　　题：Time delay 

摘      要：The communication delays have an impact on Cooperative Adaptive Cruise Control (CACC) of vehicle platoon systems, since thepreceding and following vehicle information is utilized through vehicular Ad Hoc networks. In this paper a three-order vehicleplatoon system using distributed control protocols with communication delays is designed using leading and neighboring vehicleinformation. The sufficient necessary conditions for local stability and string stability are derived based on the Hurwitz stabilitycriterion and the frequency domain method without time delays, in which the thresholds of the controller gains and their relationshipis revealed. For the vehicle platoon systems with time delays, the upper bounds of the time delays satisfying the local stability andstring stability are given based on the method of Laplace transform. Aiming to the communication delays varied, which havegreatly influence on the control performance of vehicle systems, the Bidirectional Long Short Term Memory (Bi-LSTM) model isproposed to predict the acceleration of the leading vehicle to reconstitution for the communication delays, and the algorithm hashigher accuracy and relevance by comparing the acceleration prediction method based on LSTM and the KF method. Based on thesimulation method of compensating communication delay based on Bi-LSTM model, it is obtained that the CACC vehicle systemcan still maintain local stability and string stability under infinite time delay. © 2024, The Authors. All rights reserved.