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Volume 11 Issue 2
Feb.  2024

IEEE/CAA Journal of Automatica Sinica

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Article Contents
X. Ge, Q.-L. Han, X.-M. Zhang, and  D. Ding,  “Communication resource-efficient vehicle platooning control with various spacing policies,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 2, pp. 362–376, Feb. 2024. doi: 10.1109/JAS.2023.123507
Citation: X. Ge, Q.-L. Han, X.-M. Zhang, and  D. Ding,  “Communication resource-efficient vehicle platooning control with various spacing policies,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 2, pp. 362–376, Feb. 2024. doi: 10.1109/JAS.2023.123507

Communication Resource-Efficient Vehicle Platooning Control With Various Spacing Policies

doi: 10.1109/JAS.2023.123507
Funds:  This work was supported in part by the Australian Research Council Discovery Early Career Researcher Award (DE200101128)
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  • Platooning represents one of the key features that connected automated vehicles may possess as it allows multiple automated vehicles to be maneuvered cooperatively with small headways on roads. However, a critical challenge in accomplishing automated vehicle platoons is to deal with the effects of intermittent and sporadic vehicle-to-vehicle data transmissions caused by limited wireless communication resources. This paper addresses the co-design problem of dynamic event-triggered communication scheduling and cooperative adaptive cruise control for a convoy of automated vehicles with diverse spacing policies. The central aim is to achieve automated vehicle platooning under various gap references with desired platoon stability and spacing performance requirements, while simultaneously improving communication efficiency. Toward this aim, a dynamic event-triggered scheduling mechanism is developed such that the inter-vehicle data transmissions are scheduled dynamically and efficiently over time. Then, a tractable co-design criterion on the existence of both the admissible event-driven cooperative adaptive cruise control law and the desired scheduling mechanism is derived. Finally, comparative simulation results are presented to substantiate the effectiveness and merits of the obtained results.


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    • A dynamic event-triggered scheduling and platoon control co-design approach
    • A refined constant time headway spacing policy
    • An event-driven cooperative adaptive cruise control law
    • A tractable co-design criterion


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