Remote-controlled platoon merging via coder-estimator sequence algorithm for a communication network

Jae Weon CHOI, Tae Hyun FANG, Sam KWONG, Young Ho KIM

Research output: Journal PublicationsJournal Article (refereed)peer-review

7 Citations (Scopus)


In this paper, a platoon-merging control system is considered as a remotely located system with a state represented by a stochastic process. In this system, it is common to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem where the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons, the lead vehicle of the following platoon is controlled by a remote control station. Using the coder-estimator sequence, the remote control station designs the feedback controller. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.
Original languageEnglish
Pages (from-to)30-36
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - Feb 2003
Externally publishedYes

Bibliographical note

This work was supported by the Basic Program of the Korea Science and Engineering Foundation under Grant R05-2001-000-00866-0.


  • Coder-estimator sequence
  • Limited communication capacity
  • Platoon merging
  • Remote control


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