Automated and coordinated vehicle platoon driving is challenging as the complexity of vehicle control and the presence of unreliable wireless inter-vehicle communication. This subject has an interdisciplinary nature, involving control theories, vehicle dynamics, and communication. Due to the constant interaction between control logic and communication topology, a co-design approach for the controller and for reliable communication protocol becomes necessary. This paper describes the AddP-CACC - a consensus-based solution to vehicle platoons. The proposed solution turns the communication topology into a design parameter that dynamically reconfigures the controller. In addition, the controller automatically compensates for outdated information caused by network losses and delays. AddP-CACC was implemented in the PLEXE tool and was compared with other related works. Simulation results have shown the robustness and performance of the proposed solution in various scenarios that would include realistic propagation conditions with interference caused by other vehicles. The results have also evidenced the ability of the proposed solution to maintain a stable vehicular platoon by using different communication topologies, different vehicle flows, even in the presence of strong interferences, delays, and fading conditions.

中文翻译：

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用于车辆编队控制的基于共识的方法和可靠通信协议的协同设计


由于车辆控制的复杂性以及不可靠的无线车辆间通信的存在，自动化和协调的车辆排驾驶具有挑战性。该学科具有跨学科性质，涉及控制理论、车辆动力学和通信。由于控制逻辑和通信拓扑之间不断相互作用，控制器和可靠通信协议的协同设计方法变得必要。本文介绍了 AddP-CACC - 一种基于共识的车辆队列解决方案。所提出的解决方案将通信拓扑转变为动态重新配置控制器的设计参数。此外，控制器还可以自动补偿因网络丢失和延迟而导致的过时信息。 AddP-CACC在PLEXE工具中实现，并与其他相关工作进行了比较。仿真结果显示了所提出的解决方案在各种场景中的鲁棒性和性能，其中包括具有其他车辆造成干扰的真实传播条件。结果还证明了所提出的解决方案即使在存在强干扰、延迟和衰落条件下也能够通过使用不同的通信拓扑、不同的车辆流来维持稳定的车辆排。