Cooperative Control for Connected Automated Vehicle Platoon with C-V2X PC5 Interface

This paper presents a communication scheme for connected automated vehicle platoon cooperative control based on cellular vehicle-to-everything (C-V2X) communication over the PC5 interface. Firstly, a framework for C-V2X communication and platoon joint control is established. Under this framework, a platoon controller is designed for platoons with communication delays and external disturbances. Then, the effectiveness of the proposed scheme is verified through a numerical simulation and experiments on the Baidu Apollo vehicle. The collected vehicle status data of Baidu Apollo is transmitted through the C-V2X device to complete the simulated collaborative control experiment, which validates the feasibility of the C-V2X communication scheme in the cooperative control of the connected automated vehicle platoon.