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Platooning control of automated vehicles under weighted try-once-discard protocols
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DOI：10.1002/asjc.3887.png)
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Abstract
En 中文
The increase in vehicles leads to various social problems, such as traffic jams and traffic accidents, and platooning control of automated vehicles is a potential solution to improve transportation efficiency. Platooning control schemes are highly dependent on the exchange of information between vehicles. In this paper, a weighted try-once-discard (WTOD) protocol alongside the deployment of a pull strategy is developed to remove the continuous monitoring for all neighbor information, thereby reducing the communication burden. A platooning controller is then constructed by adequately considering this communication protocol and a constant-time headway spacing that is adjusted dynamically based on the relative velocity of the vehicles. By relying on the Lyapunov stability theory, a sufficient condition is established to check that the addressed vehicle system is capable of realizing the predetermined platoon within a finite-time horizon. In addition, a parameterized condition, which is characterized by linear matrix inequalities, is obtained to determine the desired gain of the controllers. Finally, a set of simulations is utilized to verify the effectiveness and feasibility of the proposed method.
Keywords:
automated vehicles
constant-time headway spacing
platooning control
weighted try-once-discard protocols
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