Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios

作     者：Zhanyi HU Yingjun QIAO Xingyu LI Jin HUANG Yifan JIA Zhihua ZHONG Zhanyi HU;Yingjun QIAO;Xingyu LI;Jin HUANG;Yifan JIA;Zhihua ZHONG

作者机构：School of Vehicle and MobilityTsinghua UniversityBeijing 100084China Chinese Academy of EngineeringBeijng 100088China MOE Key Laboratory of Road and Traffic EngineeringTongji UniversityShanghai 200092China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2022年第23卷第11期

页      面：1700-1713页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(Nos.61872217 U20A20285 U1701262 and U1801263)。 

主　　题：Connected and automated vehicles Event-triggered control Nonlinear and uncertain dynamics Conflicting scenarios 

摘      要：Platoon control is widely studied for coordinating connected and automated vehicles(CAVs)on highways due to its potential for improving traffic throughput and road safety.Inspired by platoon control,the cooperation of multiple CAVs in conflicting scenarios can be greatly simplified by virtual platooning.Vehicle-to-vehicle communication is an essential ingredient in virtual platoon systems.Massive data transmission with limited communication resources incurs inevitable imperfections such as transmission delay and dropped packets.As a result,unnecessary transmission needs to be avoided to establish a reliable wireless network.To this end,an event-triggered robust control method is developed to reduce the use of communication resources while ensuring the stability of the virtual platoon system with time-varying uncertainty.The uniform boundedness,uniform ultimate boundedness,and string stability of the closed-loop system are analytically proved.As for the triggering condition,the uncertainty of the boundary information is considered,so that the threshold can be estimated more reasonably.Simulation and experimental results verify that the proposed method can greatly reduce data transmission while creating multi-vehicle cooperation.The threshold affects the tracking ability and communication burden,and hence an optimization framework for choosing the threshold is worth exploring in future research.