Constant-Spacing Connected Platoons With Robustness to Communication Delays

Abstract

This paper proposes an approach to make constant-spacing vehicle platoons robust to large delays and loss of communication. It is well known that centralized communication of the desired trajectory is important to simultaneously guarantee both string stability and constant-spacing in platoons. However, the performance of the resulting connected vehicle system (CVS) is vulnerable to large communication delays and communication loss. The main contribution of this work is a new delayed-self-reinforcement-based (DSR-based) approach that approximates the centralized communication based control by a decentralized predecessor follower (PF) control. The resulting blending of centralized communication with the decentralized DSR approach results in predecessor-leader follower (PLF) control with (i) robustness of the convergence to consensus under large communication delays and (ii) substantially-smaller spacing errors under loss of communication. Comparative simulations show that, for the same level of robustness to internal-stability and string-stability, the variation in settling time to consensus for PLF with DSR under large communication delays is 95% less than PLF without DSR and the steady-state error with DSR under loss of communication is 80% less than PLF without DSR.