A Hierarchical Distributed Coordination Framework for Flexible and Resilient Vehicle Platooning

• Published in: IEEE transactions on intelligent transportation systems Vol. 25; no. 6; pp. 6090 - 6105
• Main Authors: Wei, Henglai, Aparow, Vimal Rau, Hu, Bin-Bin, Lv, Chen
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Closed loops; Clustering algorithms; Computer crime; Control design; Coordination; cyberattacks; Feedback control; hierarchical distributed coordination; intelligent and connected vehicles; Lane changing; Lateral control; Mathematical models; Optimization; Platooning; Resilience; Resilient and flexible platooning; Safety; security and safety; Vehicle dynamics; Vehicles
• ISSN: 1524-9050; 1558-0016
• DOI: 10.1109/TITS.2023.3335389

This study addresses the challenges and solutions for achieving flexible and resilient platooning in Intelligent and Connected Vehicles (ICVs) under diverse constraints. We focus on enabling vehicles to freely join or leave the platoon and maintaining resilience against adversarial cyberattacks within the network. We propose a hierarchical distributed coordination framework that combines high-level event-driven cluster coordination with lower-level decoupled longitudinal and lateral control designs. Each normal vehicle updates its longitudinal state by solving a distributed optimization-based control problem, utilizing both itself and neighboring vehicles' information. Meanwhile, the lateral control scheme employs a decentralized optimization algorithm to facilitate lane-changing coordination. Additionally, we develop a distributed attack detection algorithm that enables the identification and removal of adversarial vehicles from the platoon. The stability of the closed-loop system is proven, and simulation results validate the effectiveness of our framework in achieving flexible and resilient vehicle platooning.