Optimal Control for Platooning in Vehicle-to-Infrastructure Communications Networks

Conventional vehicle-to-vehicle communication aided platooning system is distributed under various communication topologies and suffers from the severe interference, uncertain topologies, and heterogeneous communication delays, particularly in the urban areas with dense vehicles. Platooning design with the vehicle-to-infrastructure communication (V2I) enables the minimum number of communication links. Therefore, this letter proposes an optimal control scheme for minimizing the overall status errors under delay concern in the V2I based platooning system. By transforming the continuous-time plant into a discrete-time linear system, the considered system is confirmed to be controllable. Numerical results confirm that the proposed scheme is effective and achieves stability in the presence of different communication delay conditions.