Cooperative Perception And Management For Platooning Based On Vehicle-cloud Architecture

Vehicle platooning can reduce the air drag and increase the safety of automobile driving,by organizing cars into platoons with constant spacing,and thus contributes to the decline of energy consumption and the improvements of road safety and traffic efficiency.The vehicle-cloud architecture based on V2X(Vehicle-to-Everything)and MEC(Mobile Edge Computing/Multi-access Edge Computing)provides vehicle platoons with communicating capability with surroundings and computing capability for perception and platooning control.Based on these capabilities,this thesis conducts research on cooperative perception and management for platoons under vehicle-cloud architecture,to improve platoon’s perception capability and overall performance.The major work of this thesis includes two aspects:cooperative perception and cooperative management for platooning under vehicle-cloud architecture.The main contributions include:First,a cooperative perception mechanism for platoon based on vehicle-cloud architecture is proposed.It utilizes vehicle-cloud-cooperation to overcome the problem of limited perceptual range depending on on-board sensors only,and thus provides platoons with perceptual ability within the serving area of the MEC server.The perception information is defined,the perception information fusion method and maintaining procedure are designed.Simulation results show the proposed mechanism can effectively improve the perception capability of the platoons.Next,a cooperative management algorithm for platooning is proposed.Based on the cooperative perceptional information,the cooperative decision-making method about platoon join(i.e.,the selection of target platoon and joining location/time)is designed.In detail,the platoon join maneuver is regarded as two procedures:target-platoon-matching and platoon-joining.In target-platoon-matching procedure,both a distributed and a centralized approaches are designed for a vehicle to match a suitable target platoon.In platoon-joining procedure,i the optimized occasion and location for join maneuver is determined.The simulation results show that the proposed method improves platoon-driving efficiency and road efficiency,while reducing the negative impact from driving environment significantly.