Slip-Aware Networked Vehicular Model and Control for Connected Automated Driving

A slip-aware networked vehicle model is proposed to design a controller for cooperative adaptive cruise control and safety of the intended functionality (SOTIF) in connected automated driving systems. By sharing the magnitude of tire-level relative longitudinal speed (i.e., longitudinal slip ratio) in addition to the vehicle kinematic states, a novel slip-aware model is developed which utilizes an augmented state for communication to enhance the safety of the vehicular network. The proposed model is compelling in the sense that it requires minimal information sharing, while facilitating the formation of platoons which comprises of vehicles from various manufacturers. For controlling the overall system of networked vehicles, a time-delayed control based strategy is proposed and the stability of the model is discussed. Further simulation of the vehicle platoon control is carried out with the lead vehicle tracking a predefined trajectory and the follower vehicles satisfying various performance criteria.