research-article

Periodic Event-Triggered CACC and Communication Co-design for Vehicle Platooning

Authors:

Chengpu YuAuthors Info & Claims

ACM Transactions on Cyber-Physical Systems, Volume 7, Issue 4

Article No.: 28, Pages 1 - 19

https://doi.org/10.1145/3617125

Published: 14 October 2023 Publication History

Abstract

Cooperative Adaptive Cruise Control (CACC) based vehicle platooning can increase the safety and efficiency of traffic. This work looks into the communication and control problems of vehicle platooning, and proposes a control and communication co-design for CACC. First, an integrated radar system is presented. This system integrates sensing of relative position, speed, and communication between a predecessor and its follower. Second, a working scheme for the integrated radar system is presented. This scheme allows the radar systems to switch periodically between different working modes without interferences from other modes. Therefore, the relative position, speed, and communication can be asynchronously periodically updated to the controller. Third, a periodic event-triggered control approach is presented. This approach allows asynchronous periodic sampling of the output, and is deeply co-designed with the radar system and its working scheme. Delays are also considered in the control approach. The co-design CACC approach can guarantee the vehicle platoons to be string stable. A numerical example has shown the feasibility of the approach.

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Cited By

Sarkar RBanerjee AHashemi E(2024)Adaptive Time-Delay Control for Cooperative Platooning Considering SlipACM Transactions on Cyber-Physical Systems10.1145/37047389:1(1-22)Online publication date: 22-Nov-2024
https://dl.acm.org/doi/10.1145/3704738
Alhazmi MRamay EUl Hassan WAlsaeedi MNiazi AShoukat IAlBasheir N(2024)Robust decentralized event-triggered control for leader-follower vehicles with mitigating delays and security threats combining sensor and actuator attacksSystems Science & Control Engineering10.1080/21642583.2024.240911012:1Online publication date: 27-Sep-2024
https://doi.org/10.1080/21642583.2024.2409110

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Published In

cover image ACM Transactions on Cyber-Physical Systems

ACM Transactions on Cyber-Physical Systems Volume 7, Issue 4

October 2023

199 pages

ISSN:2378-962X

EISSN:2378-9638

DOI:10.1145/3627765

Editor:
Chenyang Lu
Washington University in St. Louis, USA

Issue’s Table of Contents

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

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ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 14 October 2023

Online AM: 21 August 2023

Accepted: 13 August 2023

Revised: 15 November 2022

Received: 08 March 2022

Published in TCPS Volume 7, Issue 4

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National Natural Science Foundation of China (NSFC)
National Key Research and Development Program of China

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Cited By

Sarkar RBanerjee AHashemi E(2024)Adaptive Time-Delay Control for Cooperative Platooning Considering SlipACM Transactions on Cyber-Physical Systems10.1145/37047389:1(1-22)Online publication date: 22-Nov-2024
https://dl.acm.org/doi/10.1145/3704738
Alhazmi MRamay EUl Hassan WAlsaeedi MNiazi AShoukat IAlBasheir N(2024)Robust decentralized event-triggered control for leader-follower vehicles with mitigating delays and security threats combining sensor and actuator attacksSystems Science & Control Engineering10.1080/21642583.2024.240911012:1Online publication date: 27-Sep-2024
https://doi.org/10.1080/21642583.2024.2409110

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