Coordinated vehicle platoon control: Weighted and constrained consensus and communication network topologies

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

“…The related work was initially reported by Fax and Murray (2004), in which dynamical systems as the paradigm are used to model the information exchange within a platoon, and cooperative driving vehicles are formulated as a typical consensus control problem. Thereafter, considerable studies were conducted on the issues of cooperative driving and formulated these issues into different consensus problems under various communication assumptions (Bernardo et al, 2015, Ren, 2007, Wang et al, 2012. In Wang et al (2012), the cooperative driving vehicles are required to converge the weighted headway spacing to a constant.…”

“…Thereafter, considerable studies were conducted on the issues of cooperative driving and formulated these issues into different consensus problems under various communication assumptions (Bernardo et al, 2015, Ren, 2007, Wang et al, 2012. In Wang et al (2012), the cooperative driving vehicles are required to converge the weighted headway spacing to a constant. Moreover, the authors proposed a two-stage stochastic approximation algorithm with post-iterate averaging to mitigate the observation noises.…”

A Joint Control–Communication Design for Reliable Vehicle Platooning in Hybrid Traffic

“…For instance, [17] presents a cooperative adaptive cruise control (CACC) design with the predecessor-follower information, [5] develops a sliding-mode control with the leader-follower information, [18] adopts the gas-kinetic theory to model the mixed traffic of manual and ACC vehicles, [19] studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation, and more studies can be found in the recent surveys [1], [20] and references there-in. Among different control strategies, the consensus-based approach has recently been applied into the platoon control [6], [8], [21], because it can efficiently facilitate the convergence of collective behavior among multiple agents [22], and that can well adapt to the characteristics of the time-varying communication topology of IVC. In this study, we will investigate consensus-based control and will particularly focus on the stability of platoon under realistic imperfect IVC, which has not been well addressed in the past.…”

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

“…As a typical application of platoon-based VCPSs, the cooperative platoon driving with vehicular communications has attracted increasing concerns in recent years [68], [85]- [88], which are summarized in Table IV. In [84], Xu et al quantified the impact of communication information structures and contents on platoon safety. They designed the platoon safety conotrol system and compared the system performance under different information structures (i.e., front sensors, rear sensors, and wireless communication channels) and different information contents (such as distances, speeds, and drivers action) settings.…”

“…A consensus-based platoon controller was proposed in [88], where vehicles are deployed to converge the weighted intraplatoon spacing to a constant. To tackle observation noises, Wang et al proposed a two-stage stochastic approximation algorithm with post-iterate averaging.…”