Sustainable Distributed Adaptive Platoon in Multi-Agent Mobile-Edge Computing Networks for Lane Reduction Scenario

Abstract

Nowadays, Connected Automated Vehicles (CAVs) have emerged as powerful infrastructures for the next-generation Intelligent Transportation System (ITS) as the rapid technological advancements of communication networks and vehicular intelligence. While prospective platoon-based techniques in CAVs, the heterogeneous traffic condition poses a challenge for platoon control in the self-organized traffic bottleneck, thus making an urgent need for a practical sustainable transportation architecture. To address this problem, we propose a software defined architecture that leverages multi-agent techniques to mobile-edge computing networks for multi-vehicle adaptive platoon, which is called SD-M3ASP. The architecture supports centralized and decentralized management of vehicular edge communication resources between mobile vehicles and edge devices, and underpins sustainable vehicular platooning capabilities. Then, we propose cluster-based kinematic models by grouping vehicles into multi-vehicle clusters (MVCs) to facilitate efficient platoon control with collision avoidance. Furthermore, we propose three-stage platoon control algorithms to adaptively balance the size of MVCs and form stable platoons in heterogeneous traffic flows. The intra-platoon and inter-platoon convergence are analyzed by using the Routh stability criterion and Lyapunov technique. A CAV simulation software is developed for demonstration purposes which is available online at https://qgailab.com/cav-sim . Extensive numerical simulation results have shown the superiority of the proposed method, which can greatly eliminate the self-organized congestion caused by heterogeneous traffic flow.