Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

Platooning vehicles are beneficial in comfortable driving, safety, and enhanced transportation efficiency. with cooperative adaptive cruise control (CACC) mode can potentially result a small distance between assured string stability. This CACC-based platoon be realized by vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X) communication vehicles. In this regard, the distributed framework is widely used. It claims robustness to uncertainties since each vehicle has its controller. With rapid research on V2X, centralized another option for platooning framework. paper investigates analyzes under uncertainty. most of papers, uncertainty considered as road slope dynamics model. paper, refers types, namely homogeneous heterogeneous platoon. The analytical stability studied both frameworks different types. gives minimum time gap boundary guarantee frameworks. numerical performed simulation verify analytical. done using integrated PreScan Matlab/Simulink. Then, evaluated latency packet loss. Finally, performance also evaluated.