Robust Cooperative Adaptive Cruise Control of Vehicles on Banked and Curved Roads with Sensor Bias

This paper considers cooperative adaptive cruise control (CACC) for automated vehicles on banked and curved roads. In such context, the existing longitudinal control alone cannot guarantee robustly stable CACC, because the vehicle longitudinal dynamics are coupled with the lateral dynamics. This gives rise to the necessity of incorporating the lane keeping (LK) control with CACC for the following vehicle to guarantee lateral stability and adaptive cruise. A robustly independent design strategy is proposed for determining a linear parameter varying (LPV) LK controller and a constant gain CACC controller. The influence of sensor bias and noise is also considered and a linear time-varying generalized augmented state observer (LTV-GASO) is developed to obtain optimal state estimation of the CACC and LK systems. Designs of the observers and controllers for CACC and LK systems follow a similar scheme with an easily solved linear optimization problem formulation. This facilitates the overall vehicle control system design and implementation. Simulation of a platoon in actual traffic environment illustrates efficacy of the proposed designs in achieving robustly stable vehicle following and lateral stability.