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A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
V2I-Based Platooning Design with Delay Awareness
This paper studies the vehicle platooning system based on
vehicle-to-infrastructure (V2I) communication, where all the vehicles in the
platoon upload their driving state information to the roadside unit (RSU), and
RSU makes the platoon control decisions with the assistance of edge computing.
By addressing the delay concern, a platoon control approach is proposed to
achieve plant stability and string stability. The effects of the time headway,
communication and edge computing delays on the stability are quantified. The
velocity and size of the stable platoon are calculated, which show the impacts
of the radio parameters such as massive MIMO antennas and frequency band on the
platoon configuration. The handover performance between RSUs in the V2I-based
platooning system is quantified by considering the effects of the RSU's
coverage and platoon size, which demonstrates that the velocity of a stable
platoon should be appropriately chosen, in order to meet the V2I's
Quality-of-Service and handover constraints
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