Event-Triggered Vehicle-Following Control for Connected and Automated Vehicles under Nonideal Vehicle-to-Vehicle Communications
Jizheng Liu, Zhenpo Wang, Lei Zhang
Abstract
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.