== Abstract ==

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Vehicle platooning has gained attention for its potential to achieve an increased road capacity and safety, and a higher fuel efficiency. Member vehicles of a platoon wirelessly communicate complying with industrial standards such as IEEE 802.11p. By exchanging information with other members via wireless communication, a platoon member computes its desired acceleration which is then passed on to the engine control system via in-vehicle network to physically realize the acceleration. This leads to a multi-layer control scheme. The upper-layer is influenced by the behavior of 802.11p communication and network congestion due to transmissions by other vehicles in the traffic. The lower-layer engine control loop communicates over the fast and reliable in-vehicle networks (e.g., FlexRay, Ethernet). Design of the overall system therefore depends on (i) the characteristics of 802.11p-based communication (ii) the nature of the traffic (iii) the control algorithms running at the two layers. We present a cosimulation framework consisting of Matlab (for the multi-layer control algorithms), ns-3 (for the 802.11p network) and SUMO (for the traffic behavior). The framework can be used to validate different platooning setups. As an illustrative case study, we consider a multi-layer control strategy where the upper-layer uses Model Predictive Control (MPC) at a rate in compliance with 802.11p and the lower-layer uses statefeedback control at a higher sampling rate in line with in-vehicle networking capabilities. The control strategy is evaluated considering various realistic traffic and network congestion scenarios. © 2018 IEEE.

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== Original document ==

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The different versions of the original document can be found in:

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* [http://dx.doi.org/10.1109/dsd.2018.00068 http://dx.doi.org/10.1109/dsd.2018.00068]

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* [http://resolver.tudelft.nl/uuid:f7febb54-9c12-4479-8e38-3b45cba85719 http://resolver.tudelft.nl/uuid:f7febb54-9c12-4479-8e38-3b45cba85719]

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* [https://pure.tue.nl/ws/files/146422946/Co_simulation_Framework_for_Control_Communication_and_Traffic_for_Vehicle_Platoons.pdf https://pure.tue.nl/ws/files/146422946/Co_simulation_Framework_for_Control_Communication_and_Traffic_for_Vehicle_Platoons.pdf]

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* [http://www.scopus.com/inward/record.url?scp=85056455211&partnerID=8YFLogxK http://www.scopus.com/inward/record.url?scp=85056455211&partnerID=8YFLogxK],

: [http://dx.doi.org/10.1109/dsd.2018.00068 http://dx.doi.org/10.1109/dsd.2018.00068]

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* [http://xplorestaging.ieee.org/ielx7/8490807/8491778/08491839.pdf?arnumber=8491839 http://xplorestaging.ieee.org/ielx7/8490807/8491778/08491839.pdf?arnumber=8491839],

: [http://dx.doi.org/10.1109/dsd.2018.00068 http://dx.doi.org/10.1109/dsd.2018.00068]

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* [https://dblp.uni-trier.de/db/conf/dsd/dsd2018.html#IbrahimMGBL18 https://dblp.uni-trier.de/db/conf/dsd/dsd2018.html#IbrahimMGBL18],

: [https://repository.tudelft.nl/view/tno/uuid:f7febb54-9c12-4479-8e38-3b45cba85719 https://repository.tudelft.nl/view/tno/uuid:f7febb54-9c12-4479-8e38-3b45cba85719],

: [https://www.narcis.nl/publication/RecordID/oai%3Apure.tue.nl%3Apublications%2Fea68dd0e-9db6-430e-981c-0d6075e88658 https://www.narcis.nl/publication/RecordID/oai%3Apure.tue.nl%3Apublications%2Fea68dd0e-9db6-430e-981c-0d6075e88658],

: [https://pure.tue.nl/ws/files/146422946/Co_simulation_Framework_for_Control_Communication_and_Traffic_for_Vehicle_Platoons.pdf https://pure.tue.nl/ws/files/146422946/Co_simulation_Framework_for_Control_Communication_and_Traffic_for_Vehicle_Platoons.pdf],

: [https://research.tue.nl/en/publications/co-simulation-framework-for-control-communication-and-traffic-for https://research.tue.nl/en/publications/co-simulation-framework-for-control-communication-and-traffic-for],

: [https://academic.microsoft.com/#/detail/2897209749 https://academic.microsoft.com/#/detail/2897209749]

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