LAUSR

ABSTRACT This paper investigates cooperative control and communication scheduling of a platoon of connected vehicles. Considering the effect of packet dropout and the network access limitation, the vehicular platoon is modelled as a discrete-time switching system. We obtain a set of sufficient conditions (where the rate of different platoon control modes is factored in) for string stability and schedulability of the vehicular platoon. A unified framework of network access scheduling and platoon control is proposed, which can guarantee string stability of the platoon of vehicles and resolve network access conflicts among them. Both numerical simulations and experimental studies with laboratory-scale cars have demonstrated the effectiveness of the presented co-design algorithm.