Performance analysis for cooperative autonomous driving in vehicular ad-hoc networks

The paper considers multiple vehicles that cooperatively run on a shared road without collusion. First some distributed control protocols are proposed for multiple vehicle systems. The kind of systems are hybrid systems which consist of continuous state and discrete values. To conveniently analyze stability performance, the proposed control protocols are considered to divide into two situations: land driving and braking control case. Stability analysis and proof for two cases are given in vehicular ad-hoc networks. Moreover, for braking control situation, we prove that the position of the mass center of all vehicles converges exponentially to the target stopping position and velocity of the mass center of all vehicles converges exponentially to zero. Simulations demonstrate the proposed protocols are feasible and reasonable.