Delay-Aware Multi-Layer Multi-Rate Model Predictive Control for Vehicle Platooning Under Message-Rate Congestion Control

Vehicle platooning is an enabler technology for increasing road capacity, improving safety and reducing fuel consumption. Platoon control a two-layered system where each layer runs under different communication standard rate – (i) the upper-layer operates specific V2V such as IEEE 802.11p (ii) lower-layer over high-speed in-vehicle networks FlexRay, CAN. The upper-layer, 802.11p, uses periodic Cooperative Awareness Messages (CAMs) exchanging vehicle motion information (i.e., acceleration, velocity so on), of which adapted depending on network congestion level. With 70% channel load, CAMs experience significant delay packet loss, jeopardizing stability platoon control. Under high congestion, European Telecommunications Standard Institute (ETSI) proposes to engage Decentralized Congestion Control (DCC) load. We propose DCC scheme tackle this scenario. Our contribution three-fold. First, we multi-layer model explicitly augmenting in state-space. Second, augmented delay-aware integrated state-of-the-art multi-rate predictive (MPC) upper-layer. Third, adopt message-rate keep load given threshold. use proposed MPC may lead switching dynamic conditions. Using technique, show that performance can be maintained while maintaining string stability.