Cooperative Adaptive Cruise Control (CACC) For Partially Automated Truck Platooning:Final Report

Cooperative Adaptive Cruise Control (CACC) provides an intermediate step toward a longer-term vision of trucks operating in closely-coupled automated platoons on both long-haul and short-haul freight corridors.  There are important distinctions between CACC and automated truck platooning.  First, with CACC, only truck speed control will be automated, using V2V communication to supplement forward sensors.  The drivers will still be responsible for actively steering the vehicle, lane keeping, and monitoring roadway and traffic conditions.  Second, while truck platooning systems have relied on a Constant Distance Gap (CDG) control strategy, CACC has relied on a Constant-Time Gap (CTG) control strategy, where the distance between vehicles is proportional to the speed.