Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies
Tsinghua University · Cranfield University
Abstract
In addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V) communications. Under linear feedback controllers, a unified internal…
Citation impact
- FWCI
- 38.51
- Percentile
- 100%
- References
- 47
Authors
5Topics & keywords
- Platoon
- Network topology
- Homogeneous
- Scalability
- Computer science
- Stability (learning theory)
- Vehicular ad hoc network
- Flow (mathematics)