Prediction based framework for vehicle platooning using vehicular communications

One of the major advantages of V2V communication for vehicle platooning system is the low latency of message transfer between the vehicles as compared to the recognition by the sensor systems. The low latency allows the following vehicles to predict the trajectory of leading vehicle and plan the required control actions in a very short time. In addition, V2V can be effectively used in scenarios where the information from vision sensors in unavailable or limited due to field-of-view or unsuitable weather conditions. In this paper, we present such a vehicle platooning system that relies only on V2V communication, without use of vision sensors. We also evaluate the effect of communication latency and reliability on the performance of the system. Vehicle tests using prototype hardware for 5G-V2X and 802.11p communications show the effectiveness of the approach.