In this paper, an event-triggered vehicle-following control scheme for connected and automated vehicles (CAVs) is proposed considering nonideal Vehicle-to- Vehicle communications such as communication delays and packet dropouts. An output-based event-triggered mechanism is employed for reducing computational burden. An Event-Triggered Model Predictive Control (ETMPC) is proposed by combining with a multi-target controller for the lateral and longitudinal vehicle-following control of CAVs. The simulation results demonstrate that the proposed ETMPC can avoid unnecessary optimization implementation, achieving a computational reduction by 61.5% while maintaining the tracking precision compared with a conventional Model Predictive Controller. The proposed control scheme is also capable of being employed in vehicle platoon control.


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    Title :

    Event-Triggered Vehicle-Following Control for Connected and Automated Vehicles under Nonideal Vehicle-to-Vehicle Communications


    Contributors:
    Liu, Jizheng (author) / Wang, Zhenpo (author) / Zhang, Lei (author)


    Publication date :

    2021-07-11


    Size :

    1535062 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English