Vehicle Platooning Algorithm for Improving Following Control

Vehicle-to-vehicle(V2V)communication is a key technology in the composition of autonomous fleets. However, in the case of unsatisfactory communication, the following control of the vehicle queue is greatly challenged, which has a great impact on the safety of the vehicle queue. In this regard, we add a vehicle queue-based delay constraint and propose an improvement to compensate for the impact of communication. Our improved vehicle platooning model reduces the impact of delays by making route corrections for vehicle route deviations due to network delays. The experimental results show that improving the following model in the scenario of communication delay can effectively improve the stability and safety of the autonomous vehicle queue following.