Citation

Petrillo A, Salvi A, Santini S, Valente AS. Transp. Res. C Emerg. Technol. 2018; 86: 372-392.

Copyright

(Copyright © 2018, Elsevier Publishing)

DOI

10.1016/j.trc.2017.11.009

PMID

unavailable

Abstract

The development of automated and coordinated driving systems (platooning) is an hot topic today for vehicles and it represents a challenging scenario that heavily relies on distributed control in the presence of wireless communication network. To actuate platooning in a safe way it is necessary to design controllers able to effectively operate on informations exchanged via Inter-Vehicular Communication (IVC) systems despite the presence of unavoidable communication impairments, such as multiple time-varying delays that affect communication links. To this aim in this paper we propose a novel distributed adaptive collaborative control strategy that exploits information coming from connected vehicles to achieve leader synchronization and we analytically demonstrate its stability with a Lyapunov-Krasovskii approach. The effectiveness of the proposed strategy is shown via numerical simulations in Plexe, a state of the art IVC and mobility simulator that includes basic building blocks for platooning.

Language: en

Keywords

Autonomous vehicles; Collaborative driving strategy for transportation; Networked system; Synchronization of multi-agent systems