Vehicular autonomy concept has been gathering a considerable amount of attention since the last decades of twentieth century due to remarkable advancements in technologies which it is directly associated with. Vehicle platooning, a group of vehicles moving according to a motion plan, is one of the foremost applications of vehicular autonomy. Recent researches in vehicular platooning have brought out the need of improving quality of wireless communication between the nodes of a vehicular platoon. This paper addresses different types of communication problems which are possible to be encountered during platooning applications. First, leader information delayed platoon systems are examined and an approach is proposed to overcome the adverse effects of pre-known communication delays. Then, wireless communication dropout is studied and its impacts are evaluated and as the last part of this paper, continual communication topology switching is triggered via perpetually allowing and interrupting availability of leader vehicle states to demonstrate communication weaknesses. Simulation results reveal that the extended DMPC approach proposed in this paper is capable of handling steady-state error arising from mentioned communication malfunctions without corrupting string stability.
A Modified Distributed Model Predictive Control Approach for Handling Vehicular Platoon Communication Problems
2020-09-20
632443 byte
Conference paper
Electronic Resource
English