Work-in-Progress: Time-Aware Formation Control of Connected and Automated Vehicle Platoon Based on Weighted Graph Theory

The regulation time is an important index for formation switching control of connected and automated vehicle (CA V) platoon. This paper proposes a time-aware formation control (T AFC) strategy to improve the formation switching performance of CA V platoon. To construct an effective information sharing mechanism among the vehicles in the platoon, a unidirectional weighted graph is designed to construct the relation of the CA V platoon and calculate the impact factor between two different vehicles. Based on the unidirectional weighted graph, the time-aware requirement is converted to the regulation order problem, and the regulation order which corresponding to the minimum time is designed. According to the T AFC, the qualitative regulation strategy of the CA V platoon and the quantitative tune-up strategy of the vehicles are determined. In order to analyze the performance of the TAFC strategy, two state-of-art methods are selected as the benchmarked methods. The validation results demonstrate the proposed method possesses better performance for formation switching control compared with the benchmarked methods.