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Autonomous Controller-Aware Scheduling of Intra-Platoon V2V Communications


[ 1 ] Instytut Radiokomunikacji, Wydział Informatyki i Telekomunikacji, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.3] Information and communication technology

Year of publication


Published in


Journal year: 2023 | Journal volume: vol. 23 | Journal number: iss. 1

Article type

scientific article

Publication language


  • platooning
  • autonomous vehicles
  • CACC
  • scheduling

EN In this paper, we investigate the problem of reducing the use of radio resources for vehicle-to-vehicle communications in an autonomous platooning scenario. Achieving reliable communications, which is a key element allowing for the tight coordination of platoon vehicles’ motion, might be challenging in a case of heavy road traffic. Thus, in this paper, we propose to reduce the number of intra-platoon transmissions required to facilitate the safe autonomous control of vehicle mobility, by analyzing the impact of cars’ behaviors (in terms of acceleration changes) on the evolution of the inter-vehicle distance errors within the platoon. We derive formulas representing the relation between the platoon leader’s acceleration changes and the evolution of the distance error, velocity difference, and the accelerations for the first pair of vehicles. Furthermore, we propose a heuristic algorithm for selection of the intra-platoon messaging period for each platoon vehicle that minimizes the use of radio resources subject to the safety constraint, represented as the fraction of the total time when emergency braking is activated. The presented simulation results indicate that the proposed approach is capable of ensuring safe platoon operation and simultaneously providing a significant reduction in the use of resources, compared with conventional fixed-period transmission.

Pages (from - to)

60-1 - 60-21





article number: 60

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Full text of article

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Ministry points / journal


Impact Factor

3,9 [List 2022]

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