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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2100504


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


Author(s):  Zhanyi HU, Yingjun QIAO, Xingyu LI, Jin HUANG, Yifan JIA, Zhihua ZHONG

Affiliation(s):  School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China; more

Corresponding email(s):   huangjin@tsinghua.edu.cn, jiayifan@mail.tsinghua.edu.cn

Key Words:  Connected and automated vehicles, Event-triggered control, Nonlinear and uncertain dynamics, Conflicting scenarios


Zhanyi HU, Yingjun QIAO, Xingyu LI, Jin HUANG, Yifan JIA, Zhihua ZHONG. Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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author="Zhanyi HU, Yingjun QIAO, Xingyu LI, Jin HUANG, Yifan JIA, Zhihua ZHONG",
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year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2100504"
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%T Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios
%A Zhanyi HU
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%A Jin HUANG
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%A Zhihua ZHONG
%J Journal of Zhejiang University SCIENCE C
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A1 - Zhihua ZHONG
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Abstract: 
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 (V2V) 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 utilization of communication resources while ensuring the stability of the virtual platoon system with time-varying uncertainty. The uniform boundedness (UB), uniform ultimate boundedness (UUB), and string stability of the closed-loop system are analytically proven. The trigger condition considers the uncertain boundary information so the threshold can be estimated more reasonably. Simulation and experimental results verify that the proposed method can greatly reduce data transmissions while creating multi-vehicle cooperation. The threshold affects tracking ability and communication burden, and hence an optimization framework for choosing the threshold is worth exploring in future research.

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