Optimized connected cruise control with time delay

In this paper, we optimize the connectivity structure for connected cruise control (CCC) using linear quadratic regulation (LQR) while taking into account driver reaction time delay. We consider that a CCC-equipped vehicle receives position and velocity signals through wireless vehicle-to-vehicle (V2V) communication from multiple vehicles ahead and minimize a cost function defined by headway and velocity errors and the acceleration of the CCC vehicle over an in?nite horizon. The resulting optimal feedback contains distributed delay. We show that the feedback gains and the distribution kernels can be obtained recursively as signals from vehicles farther ahead become available. Moreover, the gains exhibit exponential decay as the number of cars between the source and the CCC vehicle increases. The performance of the developed CCC controller is verified by numerical simulations.