Joint Radio Resource Allocation and Control for Vehicle Platooning in LTE-V2V Network

To improve safety and efficiency of transportation system, an effective approach is vehicle platooning, in which a group of vehicles maintains a pre-defined moving pattern by minimizing tracking error of each vehicle. As a networked control process, platooning control relies on the cooperative awareness messages (CAM) periodically exchanged in the vehicle platoon. In meeting communication and control expectations, we propose to jointly optimize the radio resource allocation in LTE-vehicle-to-vehicle (V2V) network for the CAM transmission and control parameters of vehicle, in order tominimize the tracking error while guaranteeing the reliability requirements of V2V communication and string stability of platoon. To solve the formulated problem, we develop a sub-optimal solution. First, we present a tracking error based scheduling criterion and then obtain a radio resource allocation scheme by bipartite graph matching. Then, control parameters of vehicle are adapted to minimize the tracking error by heuristic gradient descent based method. Simulation results show that the proposed scheme can reduce the tracking error as well as ensure the platoon stability compared to the existing schemes.