Decentralized Platoon Management and Control of Autonomous Cars with Manoeuvre Coordination Message

Abstract

Recent development of Vehicle-to-Vehicle (V2V) technologies enables the vehicles to communicate with each other and coordinate their manoeuvres. With such technologies an Advanced Driving Assistance System (ADAS) such as Adaptive Cruise Control (ACC) can be pushed to another level in conditional and highly automated vehicles, i.e. a network of cooperative connected vehicles in the form of a platoon. In this paper, based on V2V communication between automated vehicles by using Manoeuvre Coordination Message (MCM), a decentralized platoon management is designed and implemented to manage the platooning state of each vehicle and when the vehicles are in a platoon or joining one, a controller is designed and implemented to guarantee that the desired headway to a preceding vehicle is held and any disturbances are not amplified downstream along the platoon.