Nonlinear consensus-based autonomous vehicle platoon control under event-triggered strategy in the presence of time delays

A novel platoon control algorithm for autonomous vehicles is proposed in this paper. There is an interaction between adjacent vehicles. In order to describe this interaction, a nonlinear function is designed. Then a non-linear distributed event-triggered controller with time delay is designed for the two cases of communication delay. In order to save resources furtherly, we have designed an event-triggered control strategy. In addition, the consensus of autonomous vehicles is guaranteed. Combining with Lyapunov's theory, we derive the upper bound of time delay of vehicle platoon. Finally, we give two simulation examples to verify the feasibility and accuracy of the method.