Truck CACC System Designand DSRC Messages

This report documents the modeling, control design and implementation logic of the CACC (Cooperative Adaptive Cruise Control).  Intuitively, CACC is based on ACC by adding intervehicle communication. This does not mean that CACC control design is simply adopting ACC control design with DSRC passed information from the forward vehicle(s). The deep reason is that: ACC control does not need to consider string stability in multi-vehicle following since it is for a single vehicle. It is fine as long as the feedback control is robustly stable with respect to all the disturbances from the external environment. CACC, on the other hand, needs to consider the string stability [5] (also see the Appendix) of all the vehicles in the string beside the feedback stability of the subject vehicle itself.