Event-triggered Scheduling for Infrastructure-supported Collaborative Vehicle Control
2016 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 49, no 22, 31-36 p.Article in journal (Refereed) Published
This paper investigates the design of event-triggered scheduling and medium access control for the real-time coordination of multiple vehicles through an infrastructure node. The key motivation of our proposed event-triggered mechanism is to concurrently address safety aspects of the vehicle control and the efficient usage of network resources of the vehicle-to-infrastructure (V2I) protocol. While the real-time guarantees needed for safety are achieved by a novel coordination scheme in the medium access layer, the event-triggered mechanism improves the real-time performance of the control task. The coordination scheme enabled through the topology of the V2I network limits the number of successive data dropouts and we prove stability of the estimator at the infrastructure that monitors the state of the vehicle group. Numerical studies on a platooning case study validate our theoretical results.
Place, publisher, year, edition, pages
Elsevier, 2016. Vol. 49, no 22, 31-36 p.
Event-triggered Scheduling, Medium Access Control, Networked Control, Platooning, Vehicle-to-Infrastructure Communications, Access control, Control system synthesis, Scheduling, Vehicle to vehicle communications, Vehicles, Event-triggered, Networked controls, Real time coordination, Real time guarantees, Real time performance, Vehicle to infrastructure (V2I), Vehicle-to-infrastructure
IdentifiersURN: urn:nbn:se:kth:diva-201974DOI: 10.1016/j.ifacol.2016.10.368ScopusID: 2-s2.0-84994162503OAI: oai:DiVA.org:kth-201974DiVA: diva2:1078372
QC 201703032017-03-032017-03-032017-03-03Bibliographically approved