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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Veröffentlicht in:	IEEE transactions on intelligent transportation systems Jg. 21; H. 5; S. 1891 - 1902
Hauptverfasser:	Li, Yongfu, Chen, Wenbo, Peeta, Srinivas, Wang, Yibing
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.05.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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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Abstract	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.
AbstractList	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.
Author	Wang, Yibing Chen, Wenbo Li, Yongfu Peeta, Srinivas
Author_xml	– sequence: 1 givenname: Yongfu orcidid: 0000-0002-7701-8351 surname: Li fullname: Li, Yongfu email: liyongfu@cqupt.edu.cn organization: Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Chongqing University of Posts and Telecommunications, Chongqing, China – sequence: 2 givenname: Wenbo surname: Chen fullname: Chen, Wenbo organization: Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Chongqing University of Posts and Telecommunications, Chongqing, China – sequence: 3 givenname: Srinivas orcidid: 0000-0002-4146-6793 surname: Peeta fullname: Peeta, Srinivas email: srinivas.peeta@ce.gatech.edu organization: School of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta, GA, USA – sequence: 4 givenname: Yibing orcidid: 0000-0001-9937-2055 surname: Wang fullname: Wang, Yibing email: wangyibing@zju.edu.cn organization: College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China
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SubjectTerms	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
Title	Platoon Control of Connected Multi-Vehicle Systems Under V2X Communications: Design and Experiments
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