Optimal channel scheduling for remote control of lead vehicle in a platoon

This paper proposes a remote control strategy for vehicles in Intelligent Vehicle Highway System (IVHS). An optimal scheduling of a limited communication channel is proposed for control of each lead vehicle in a set of platoons. The optimal scheduling problem is to find the optimal communication sequence that minimizes the cost which can be obtained inherently by the optimal control without the communication constraint. In this paper, a PID control law which guarantees the string stability is used for the lead vehicle control. It is shown that the PID control law is equivalent to the approximately optimal linear quadratic tracker. Simulations are conducted with five maneuvering platoons to evaluate the optimality of the obtained sequence.