This paper presents a communication scheme for connected automated vehicle platoon cooperative control based on cellular vehicle-to-everything (C-V2X) communication over the PC5 interface. Firstly, a framework for C-V2X communication and platoon joint control is established. Under this framework, a platoon controller is designed for platoons with communication delays and external disturbances. Then, the effectiveness of the proposed scheme is verified through a numerical simulation and experiments on the Baidu Apollo vehicle. The collected vehicle status data of Baidu Apollo is transmitted through the C-V2X device to complete the simulated collaborative control experiment, which validates the feasibility of the C-V2X communication scheme in the cooperative control of the connected automated vehicle platoon.


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    Title :

    Cooperative Control for Connected Automated Vehicle Platoon with C-V2X PC5 Interface


    Contributors:
    Wang, Xingquan (author) / Li, Yongfu (author) / Huang, Longwang (author) / Huang, Xin (author) / Zhao, Hang (author) / Han, Xingjun (author) / Xiang, Jie (author) / Wang, Huan (author)


    Publication date :

    2023-10-13


    Size :

    1478255 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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