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.

Adaptive multi-agents synchronization for collaborative driving of autonomous vehicles with multiple communication delays / Petrillo, Alberto; Salvi, Alessandro; Santini, Stefania; Valente, Antonio Saverio. - In: TRANSPORTATION RESEARCH. PART C, EMERGING TECHNOLOGIES. - ISSN 0968-090X. - 86:(2018), pp. 372-392. [10.1016/j.trc.2017.11.009]

Adaptive multi-agents synchronization for collaborative driving of autonomous vehicles with multiple communication delays

Petrillo, Alberto;Salvi, Alessandro;Santini, Stefania;Valente, Antonio Saverio
2018

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.
2018
Adaptive multi-agents synchronization for collaborative driving of autonomous vehicles with multiple communication delays / Petrillo, Alberto; Salvi, Alessandro; Santini, Stefania; Valente, Antonio Saverio. - In: TRANSPORTATION RESEARCH. PART C, EMERGING TECHNOLOGIES. - ISSN 0968-090X. - 86:(2018), pp. 372-392. [10.1016/j.trc.2017.11.009]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/705928
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