Cyclic communication in adaptive strategies to platooning

the case of synchronized merging

Journal article (2021)

Authors

Di Liu Southeast University, Rijksuniversiteit Groningen
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
V. Jain Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Wenwu Yu Southeast University
Paolo Frasca Université Grenoble Alpes
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Di Liu, S. Baldi, V. Jain, Wenwu Yu, Paolo Frasca
DOI: https://doi.org/10.1109/TIV.2020.3041702
Synchronization Uncertainty Adaptive control Acceleration Automated vehicles Vehicle dynamics Platooning Merging Protocols Benchmark testing Merging maneuvers Uncertain vehicle parameters
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication is needed and creates algebraic loops that require well posedness of the inputs. We propose an adaptive platooning strategy for synchronized merging in the cyclic communication scenario. The protocol adopts a set of adaptive control laws, designed via Lyapunov stability theory to cope with uncertain driveline time constants. Well-posedness of the inputs is proven in a distributed way (using information from neighboring vehicles) in spite of uncertainty and cyclic communication. The proposed strategy is shown in a benchmark merging scenario.