Design and analysis of control strategies for vehicle platooning

A. Saxena, Hong Li, D. Goswami, C.B. Math

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

8 Citaten (Scopus)
6 Downloads (Pure)


This paper presents a novel vehicle platoon control algorithm using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) wireless communications between platoon members. A platoon forms a chain of vehicles (e.g., trucks) for improved traffic and fuel efficiency. Platooning algorithms aim to maintain small inter-vehicular distance between vehicles under dynamic driving conditions like acceleration and deceleration. The random delay and dropped messages have a pronounced impact on the control algorithm especially in a congested communication network. In this work, a decentralized platooning control strategy is proposed such that each vehicle can independently switch between multiple controller strategies dependent on communication topologies or the pattern of information exchange from vehicles in-front. The control strategy takes into account V2V communication delay of up to 100ms. In order to overcome the impact of dropped messages a predictive control scheme is proposed. We show the existence of well-known Common Quadratic Lyapunov Function (CQLF), to prove the stability of this switched system. Simulation results show that the proposed control algorithm maintains stability and can keep the inter-vehicle gap deviation less than ±6.3% under imperfect communication conditions for a sinusoidal acceleration input between ±2m/s2:
Originele taal-2Engels
Titel2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), November 1-4, 2016, Rio de Janeiro, Brazil
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's8
ISBN van elektronische versie978-1-5090-1889-5
StatusGepubliceerd - 1 nov. 2016
Evenement19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Windsor Oceanico Hotel, Rio de Janeiro, Brazilië
Duur: 1 nov. 20164 nov. 2016
Congresnummer: 19


Congres19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Verkorte titelITSC 2016
StadRio de Janeiro


  • Acceleration
  • Delays
  • Network topology
  • Stability analysis
  • Topology
  • Vehicle dynamics
  • Vehicles
  • CACC
  • Leader follower
  • Pre-Predecessor follower
  • Predecessor Follower
  • V2V
  • switching topology
  • vehicle plaooning


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