Selection of Time Headway in Connected and Autonomous Vehicle Platoons under Noisy V2V Communication
CoRR(2024)
摘要
In this paper, we investigate the selection of time headway to ensure robust
string stability in connected and autonomous vehicle platoons in the presence
of signal noise in Vehicle-to-Vehicle (V2V) communication. In particular, we
consider the effect of noise in communicated vehicle acceleration from the
predecessor vehicle to the follower vehicle on the selection of the time
headway in predecessor-follower type vehicle platooning with a Constant Time
Headway Policy (CTHP). Employing a CTHP based control law for each vehicle that
utilizes on-board sensors for measurement of position and velocity of the
predecessor vehicle and wireless communication network for obtaining the
acceleration of the predecessor vehicle, we investigate how time headway is
affected by communicated signal noise. We derive constraints on the CTHP
controller gains for predecessor acceleration, velocity error and spacing error
and a lower bound on the time headway which will ensure robust string stability
of the platoon against signal noise. We provide comparative numerical
simulations on an example to illustrate the main result.
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