Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 66, Issue 3, Pages 1985-1999Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2016.2585018
Keywords
Distributed consensus; Lyapunov-Razumikhin; multiple time-varying communication delays; platooning; vehicular ad hoc network; vehicle to vehicle
Categories
Funding
- Regione Campania (Italy)
- Piattaforma Mobilita Project [CUP B68C12000460007]
Ask authors/readers for more resources
Automated and coordinated vehicles' driving (platooning) is very challenging due to the multibody control complexity and the presence of unreliable time-varying wireless intervehicular communication (IVC). We propose a novel controller for vehicle platooning based on consensus and analytically demonstrate its stability and dynamic properties. Traditional approaches assume the logical control topology as a constraint fixed a priori, and the control law is designed consequently; our approach makes the control topology a design parameter that can be exploited to reconfigure the controller, depending on the needs and characteristics of the scenario. Furthermore, the controller automatically compensates outdated information caused by network losses and delays. The controller is implemented in PLEXE, which is a state-of-the-art IVC andmobility simulator that includes basic building blocks for platooning. Analysis and simulations show the controller robustness and performance in several scenarios, including realistic propagation conditions with interference caused by other vehicles. We compare our approach against a controller taken from the literature, which is generally considered among the most performing ones. Finally, we test the proposed controller by implementing the real dynamics (engine, transmission, braking systems, etc.) of heterogeneous vehicles in PLEXE and verifying that platoons remain stable and safe, regardless of real-life impairments that cannot be modeled in the analytic solution. The results show the ability of the proposed approach to maintain a stable string of realistic vehicles with different control-communication topologies, even in the presence of strong interference, delays, and fading conditions, providing higher comfort and safety for platoon drivers.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available