Distributed Data-Driven Event-Triggered Fault-Tolerant Control for a Connected Heterogeneous Vehicle Platoon With Sensor Faults

This paper investigates a distributed data-driven event-triggered fault-tolerant control for a connected heterogeneous vehicle platoon with sensor faults under the vehicle-to-vehicle (V2V) communication network. First, a sensor fault diagnosis scheme based on the high-gain observer is designed to detect, estimate and compensate for the fault signal. Then, the measurement signals with sensor faults are recovered, and the reconstructed system can be modeled by the full-form dynamic linearization (FFDL) technique. To obtain reliable vehicle data communication with the efficient use of network resources, an event-triggered mechanism based on the formation error is established, and then a distributed data-driven controller can be designed to accomplish the platoon formation control task. Theoretical analysis demonstrates that the proposed distributed event-triggered fault-tolerant control method can realize the task of ensuring the safe formation control of the platoon system under some sensor faults. Finally, a simulation of a platoon with three faulty vehicles is made to verify the effectiveness and real-time performance of the proposed method.

I. Introduction

Intelligent connected vehicle (ICV) [1], [2], [3], [4], [5] integrates modern communication and network technology, and has the functions of complex environment perception, intelligent decision-making and automatic control. Network technology makes the vehicle and external nodes achieve information sharing and control collaboration, to achieve a safe, effective, and economical driving performance. Through the wireless vehicle-to-vehicle (V2V) [6], [7], [8] communication between vehicles, the follower vehicles in the vehicle platoon composed of ICVs can imitate the actions of the leader vehicle, to accelerate, brake and steer together. Vehicle formation driving can reduce the distance between vehicles and increase the traffic flow while ensuring road vehicle density. Moreover, the close arrangement of vehicle formation can reduce the air resistance between vehicles, which has important economic significance for energy saving and emission reduction in the process of vehicle transportation.