Periodic event-triggered CACC for vehicle platooning: a hybrid system approach

Cooperative adaptive cruise control (CACC) has been widely adopted in autonomous driving. To alleviate wireless network congestion, efficient data-transmission strategies are essential. This paper proposes a periodic event-triggered control (PETC) scheme for CACC vehicle platoons. The platoon as a hybrid system and its string stability is established via a Lyapunov-based approach. Numerical simulations demonstrate that the proposed PETC strategy substantially reduces the demand on network communication resources.