# Impact of Communication Loss on MPC based Cooperative Adaptive Cruise Control and Platooning

arXiv: https://arxiv.org/abs/2106.09094 · HTML: https://mlsanity.com/paper/2106.09094/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jun 2021.

## Built on by (most cited first, 4 of 4)

- [Robustness and Adaptability of Reinforcement Learning based Cooperative Autonomous Driving in Mixed-autonomy Traffic](https://mlsanity.com/paper/2202.00881/) (2022)
- [Learning-based social coordination to improve safety and robustness of cooperative autonomous vehicles in mixed traffic](https://mlsanity.com/paper/2211.11963/) (2022)
- [Context-Aware Target Classification with Hybrid Gaussian Process prediction for Cooperative Vehicle Safety systems](https://mlsanity.com/paper/2212.12819/) (2022)
- [OpenConvoy: Universal Platform for Real-World Testing of Cooperative Driving Systems](https://mlsanity.com/paper/2405.18600/) (2024)

## Abstract (arXiv)

Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main cooperative driving applications that are currently under study. These applications offer significant improvements over current advanced driver assistant systems such as adaptive cruise control (ACC). The primary motivation of CACC and Platooning is to reduce traffic congestion and improve traffic flow, traffic throughput, and highway capacity. These applications need an efficient controller to consider the computational cost and ensure driving comfort and high responsiveness. The advantage of Model Predictive Control is that we can realize high control performance since all constrain for these applications can be explicitly dealt with through solving an optimization problem. These applications highly depend on information update and Communication reliability for their safety and stability purposes. In this paper, we propose a Model Predictive Control (MPC) based approach for CACC and platooning, and examine the impact of communication loss on the performance and robustness of the control scheme. The results show an improvement in response time and string stability, demonstrating the potential of cooperation to attenuate disturbances and improve traffic flow.