Collaborative Platooning of Automated Vehicles Using Variable Time-Gaps

Aria Hasanzadezonuzy, Sina Arefizadeh, Alireza Talebpour, Srinivas Shakkottai, Swaroop Darbha

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop. Strings of vehicles have to be shaped correctly in terms of the inter-vehicular time-gap and velocity to ensure that such operation is feasible. However, controllers that can achieve such traffic shaping over the multiple dimensions of target time-gap and velocity over a region of space are unknown. The objective of this work is to design such a controller, and to show that we can design candidate time-gap and velocity profiles such that it can stabilize the string of vehicles in attaining the target profiles. Our analysis is based on studying the system in the spacial rather than the time domain, which enables us to study stability as in terms of minimizing errors from the target profile and across vehicles as a function of location. Finally, we conduct numeral simulations in the context of shaping two platoons for merger, which we use to illustrate how to select time-gap and velocity profiles for maximizing flow and maintaining safety.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)9781538654286
StatePublished - Aug 9 2018
Externally publishedYes
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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