Distributed Control of a Vehicular Platoon Using Event-Triggered Communication Strategy Based on State Estimation
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 149, Issue 9
Abstract
Forming a platoon of connected and automated vehicles (CAVs) can contribute to alleviating traffic jams, easing traffic congestion, and improving traffic safety. To address the problem of frequent communication possibly causing network congestion when there are many CAVs, we propose the distributed control of a vehicular platoon using an event-triggered communication strategy based on state estimation. First, a hierarchical control structure comprising a linear quadratic regulator (LQR) and fuzzy proportional–integral–derivative (fuzzy PID) controller was established to realize vehicle-following behavior in a platoon. To handle the frequent communication that would waste resources, an event-triggered communication strategy based on state estimation (ETCS-SE) was adopted. The event-triggered communication strategy determines whether to communicate by comparing the transmission error and the dynamic trigger threshold. The distributed Kalman filter reduces the noise of the signal, which further contributes to the reduction of false triggering. The simulation shows that the proposed platoon control algorithm exhibits excellent performance: communication resources are saved by 69.77% and the maximum of the following error is reduced by 14.16%.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This work was supported in part by the Science and Technology Development Project of Jilin Province (No. 20210301030GX), in part by the National Natural Science Foundation of China (No. 52272417), and in part by the Natural Science Foundation of Jilin Province (No. 20210101064JC).
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Information & Authors
Information
Published In
Journal of Transportation Engineering, Part A: Systems
Volume 149 • Issue 9 • September 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Oct 27, 2022
Accepted: May 8, 2023
Published online: Jul 4, 2023
Published in print: Sep 1, 2023
Discussion open until: Dec 4, 2023
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