Evaluation platform of platoon control algorithms in complex communication scenarios

S. Zhu, Dip Goswami, H. Li

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)


Cooperative Adaptive Cruise Control (CACC) extends the Adaptive Cruise Control technology with additional information exchange between vehicles over vehicle-to-everything (V2X) communications in an ad-hoc network at 5.9 GHz band (ITS-G5) in Europe. Using beyond line-of-sight information provided by V2X, the platoon control algorithms realize a shorter safe inter-vehicle distance. Nevertheless, the platoon performance (e.g., the allowable inter-vehicle distance) may be impacted by the imperfectness of wireless communications. Specifically, in congested traffic scenarios, a Decentralized Congestion Control method that regulates message rate based on congestion level (Transmit Rate Control (TRC)), may significantly reduce the platoon performance. In this work, we propose an evaluation platform for platoon control algorithms based on industrial V2X nodes operating in the ITS-G5 channels. The real car is simulated by a longitudinal vehicle dynamic model. The model-in-the-loop test results demonstrate that the performance of CACC goes down significantly when the message rate is restricted and reduced by TRC. Our evaluation results further conclude that the effect of such complex communication scenarios imposed by the existing standards should be explicitly modelled in the future platoon control algorithms.
Original languageEnglish
Title of host publication2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings
Place of PublicationPiscataway
PublisherIEEE Press
Number of pages5
ISBN (Electronic)978-1-7281-1217-6
Publication statusPublished - Apr 2019
Event89th IEEE Vehicular Technology Conference (VTC 2019-Spring) - Kuala Lumpur, Malaysia
Duration: 28 Apr 20191 May 2019


Conference89th IEEE Vehicular Technology Conference (VTC 2019-Spring)
Abbreviated title VTC Spring 2019
CityKuala Lumpur


  • CACC
  • DCC
  • ITS-G5
  • Platooning
  • V2V
  • V2X


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