Platoon Control of Connected Multi-Vehicle Systems Under V2X Communications: Design and Experiments

This paper focuses on platoon control of multi-vehicle systems in a realistic vehicle-to-vehicle/vehicle-to-infrastructure (V2V/V2I, or V2X) communication environment. To this end, the communication probability of the beacon transmission is analyzed based on the carrier sense multiple access with co...

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Vydané v:IEEE transactions on intelligent transportation systems Ročník 21; číslo 5; s. 1891 - 1902
Hlavní autori: Li, Yongfu, Chen, Wenbo, Peeta, Srinivas, Wang, Yibing
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.05.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Algorithms
beacon transmission
Car following
car-following model
Collision avoidance
Communication
Connected vehicle
Control algorithms
Control systems
Control theory
Lateral control
Longitudinal control
Nonlinear control
Perturbation methods
platoon control
Platooning
Stability analysis
stability and consensus
Velocity distribution
ISSN:1524-9050, 1558-0016
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Shrnutí:This paper focuses on platoon control of multi-vehicle systems in a realistic vehicle-to-vehicle/vehicle-to-infrastructure (V2V/V2I, or V2X) communication environment. To this end, the communication probability of the beacon transmission is analyzed based on the carrier sense multiple access with collision avoidance (CSMA/CA) mechanism. Then, a new car-following model is proposed by considering the communication probability to capture the car-following behavior of connected vehicles (CVs) equipped with V2X communications. The stability of the proposed car-following model is analyzed using the perturbation method. In addition, a nonlinear consensus-based longitudinal control algorithm is designed by considering the interactions between CVs, and an artificial function-based lateral control algorithm is presented. The convergence of the longitudinal and lateral control algorithms is analyzed using the Hurwitz stable theorem and Lyapunov technique, respectively. Also, the string stability of the vehicular platoon is performed based on the infinity-norm method. Finally, field experiments are conducted using four CVs under the scenarios of platoon forming, vehicle merging, and vehicle diverging. The results verify the effectiveness of the proposed method in terms of the trajectory and velocity profiles.
Bibliografia:ObjectType-Article-1
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content type line 14
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2019.2905039