Cyber Physical Systems - Oriented Design of Cooperative Control for Vehicle Platooning

Platoon vehicles with communication capability can dynamically form a mobile wireless network on the road with two types of communications: vehicle to vehicle (V2V) and vehicle to infrastructure (V2I). This complex networked control system integrates computing, communication and control technologies being considered a platoon-based vehicular cyberphysical system (CPS), with a closed feedback loop between the cyber process and the physical one. Platoon control using vehicular communication notably improves traffic safety and efficiency. In this paper, an application of cooperative platoonbased vehicular CPS with V2V communications is presented. The networked control architecture is of a Cooperative Adaptive Cruise Control (CACC) type where the vehicle only communicates with the preceding one. The standard control structure of the CACC system is composed of a PID CC controller for the leader vehicle and for the follower vehicle a GPC ACC feedback controller with implicit feed-forward compensator. The networked controllers of the platoon CACC architecture are obtained using CPS-oriented design approaches and the performances were tested via simulation considering a platoon with a leader and 15 followers.