An Analytical Communication Model Design for Multi-Vehicle Cooperative Control.

Wireless communication plays a significant role in the control of connected and automated vehicles (CAVs). In particular, poor communication would cause worse vehicle performances, and may even cause safety issues. This paper aims to establish a communication model for vehicular environments and deeply analyze the impact of communication characteristics on CAVs control. Firstly, the three-parameter Burr distribution delay model and the Nakagami distribution packet delivery rate (PDR) model are proposed to describe vehicular wireless networks' characteristics. Then, the platooning control is selected for a case study, and a vehicle platoon control system incorporating the proposed communication model is established. Furthermore, a simulation platform is built based on SUMO and Python, and the impact of communication characteristics on the platoon's performance is studied. The simulation results show that the characteristics presented by the communication model are consistent with those in field tests, and the quantized relationships between communication model parameters and vehicle control performance are also provided.