Hybrid Adaptive Event-Triggered Platoon Control with Package Dropout

A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of package dropout. To deal with the disturbance caused by the event-triggered scheme, the parameter space approach is adopted to derive the feasible region from which cooperative adaptive cruise control controller satisfies internal stability, distance accuracy, and string stability. Subsequently, the Bernoulli random distribution process is employed to depict the phenomenon of package dropout, and the hybrid coefficient is proposed to realize the allocation between the adaptive trigger threshold strategy and the adaptive headway strategy. The simulation of a six-vehicle platoon is carried out to verify the effectiveness of the designed control strategy. Results show that about 78.76% of communication resources have been saved by applying the event-triggered scheme, while guaranteeing the desired vehicle-following performance. And in the non-ideal communication environment with frequent package dropouts, the hybrid adaptive strategy achieves the coordination among communication resource utilization, string stability margin, distance accuracy, and traffic efficiency.