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A novel cooperative driving model for platooning of connected and automated vehicles

Author

Listed:
  • Jianzhong Chen

    (School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, P. R. China)

  • Zhaoxin Xu

    (School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, P. R. China)

  • Jing Li

    (School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, P. R. China)

  • Haomeng Lin

    (School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, P. R. China)

Abstract

This paper proposes a new cooperative driving model for the platooning of connected and automated vehicles on basic freeway sections. We introduce the desired speed, consider the communication delay between vehicles in the actual environment and employ the constant time headway policy as the spacing policy. In the model, the position error, the speed error, the difference between the desired speed and the speed of the considered vehicle and the acceleration are taken into account. The information obtained by vehicle communication is fully utilized, and the control effect of the control strategy is improved. We apply the Lyapunov–Krasovskii theorem to investigate the stability of the system. The effectiveness of the proposed model is verified by several traffic simulation scenarios.

Suggested Citation

  • Jianzhong Chen & Zhaoxin Xu & Jing Li & Haomeng Lin, 2023. "A novel cooperative driving model for platooning of connected and automated vehicles," International Journal of Modern Physics C (IJMPC), World Scientific Publishing Co. Pte. Ltd., vol. 34(07), pages 1-17, July.
    • Handle: RePEc:wsi:ijmpcx:v:34:y:2023:i:07:n:s0129183123500894
    DOI: 10.1142/S0129183123500894
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