In this paper we study the asymptotic behaviour of various platoon-type systems using the general theory developed by the authors in a recent article. The aim is to steer an infinite number of vehicles towards a target configuration in which each vehicle has a prescribed separation from its neighbour and all vehicles are moving at a given velocity. More specifically, we study systems in which s...

Platooning vehicles—connected and automated vehicles traveling with small intervehicle distances—use less fuel because of reduced aerodynamic drag. Given a network defined by vertex and edge sets and a set of vehicles with origin/destination nodes/times, we model and solve the combinatorial optimization problem of coordinated routing of vehicles in a manner that routes them to their destination...

The report deals with an introduction to the control aspect of platoon maneuvers in Automated Highway Systems. The different platoon maneuvers have been introduced. The first part of the report consists of a review of the existing literature in this area. The survey is split up into the quasi-synchronous and vehicle follower controller methods of approach to the problem. The subsequent sections...

Cooperative driving in platooning applications has received much attention lately due to its potential to lower fuel consumption and improve safety and efficiency on our roads. However, the recently adopted standard for vehicular communication, IEEE 802.11p, fails to support the level of reliability and realtime properties required by highly safety-critical applications. In this paper, we propo...

Vehicle platoon is one of the innovations in automated highway systems, which has potential to reduce fuel consumption, alleviate traffic congestion and lighten driver’s burden. How control vehicle effectively ensure stability queue a challenge. Aiming overcome shortcomings method based on traditional sliding mode control, non-singular terminal optimized by extreme learning machine proposed thi...

This paper deals with cooperative driving of automated vehicles on highways with data transmission based on inter-vehicle communications. It presents a data transmission algorithm in a platoon for a unidirectional medium and an omni-directional one under both a steady state and a transient state. The algorithm is featured by that the throughput rate is larger than a conventional system, when th...

Cooperative Adaptive Cruise Control (CACC) is a form of cruise control in which a vehicle maintains a constant headway to its preceding vehicle using radar and vehicle-to-vehicle (V2V) communication. Within the Connect & Drive1 project we have implemented and tested a prototype of such a system, with IEEE 802.11p as the enabling communication technology. In this paper we present an extension of...

We study the platoon control of vehicles with third-order nonlinear dynamics under constant time headway spacing policy. consider a vehicle model parameter uncertainties and external disturbances propose distributed law based on an event-triggered extended state observer. First, observer is designed to estimate unmodeled in model. Then dynamics, by using modified dynamic surface method. The eac...