Event-triggered control for string-stable vehicle platooning

V.S. Dolk, J. Ploeg, W.P.M.H. Heemels

Research output: Contribution to journalArticleAcademicpeer-review

126 Citations (Scopus)
553 Downloads (Pure)


Cooperative adaptive cruise control (CACC) is a promising technology that is proven to enable the formation of vehicle platoons with small inter-vehicle distances, while avoiding amplifications of disturbances along the vehicle string. As such, CACC systems can potentially improve road safety, traffic throughput and fuel consumption due to the reduction in aerodynamic drag. Dedicated short range communication (DSRC) is a key ingredient in CACC systems to overcome the limitations of onboard sensors. However, wireless communication also involves inevitable network-induced imperfections, such as a limited communication bandwidth and time-varying transmission delays. Moreover, excessive utilization of communication resources jeopardizes the reliability of the DSRC channel. The latter might restrict the minimum time gap that can be realized safely. As a consequence, to harvest all the benefits of CACC, it is important to limit the communication to only the information that is actually required to establish a (string-)stable platoon over the wireless network and to avoid unnecessary transmissions. For this reason, an event-triggered control scheme and communication strategy is developed that takes into account the aforementioned network-induced imperfections and that aims to reduce the utilization of communication resources, while maintaining the desired closed-loop performance properties. The resulting L₂ string-stable control strategy is experimentally validated by means of a platoon of three passenger vehicles.

Original languageEnglish
Article number8025403
Pages (from-to)3486-3500
Number of pages15
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number12
Publication statusPublished - 1 Dec 2017


  • Adaptive systems
  • Cooperative adaptive cruise control (CACC)
  • Cruise control
  • Delays
  • event-triggered control
  • networked control systems
  • Robustness
  • string stability
  • Vehicle dynamics
  • vehicle platoon
  • vehicle-to-vehicle (V2V) communication
  • Wireless communication


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