선행차의 원격제어를 위한 통신 시퀀스 결정

This paper is concerned with a remote control for the lead vehicles of platoon. In order to solve the problem of the enormous cost in communication, the optimal off-line scheduling of a limited communication channel is considered for lead vehicle control. The new cost function is required for the vehicle control system due to its nonlinearitise. In this paper, the deviated distance from the desired trajectory is used for defining a cost functional that measures the performance of the system with communication constraints in relation to the desired system without communication constraints. The optimal communication sequence is obtained by simulations.