Vehicular Platoon Control Using Traffic Flow Information from Road Network

In this paper, the control problem of connection vehicles in the city is investigated. The network traffic flow is managed using an Autonomous Intersection Management (AIM) platform, and a hierarchical control framework is also proposed to model the network topology on a non-directed graph, in which traffic information can be exchanged through the Infrastructure-to-Infrastructure(I2I) communication. This consistency algorithm is used to coordinate the traffic information of adjacent intersections. The relationship between traffic flow and traffic density is considered. Based on the traffic flow model, the desired velocity and spacing are obtained. The PID controller shall be constructed such that the required distance between the vehicles is kept at the same speed as the leader. The simulation results show that the designed controller keeps the following car on track with the leader under time delay.