Cyclic Communication in Adaptive Strategies to Platooning: The Case of Synchronized Merging

Recently proposed adaptive platooning strategies for connected automated vehicles are able to address uncertain parameters of the in platoon (uncertain driveline time constants), but limited acyclic interaction like look-ahead interaction. This restrains from augmenting protocols with synchronized merging maneuvers, where cyclic communication is needed and creates algebraic loops that require well posedness inputs. We propose an protocol scenario. The exploits a set control strategies, designed cope constants. Well-posedness inputs proven distributed way (using information neighboring vehicles) spite uncertainty communication. strategy shown benchmark