A Heterogeneous Satellite-Vehicular Passive Optical Network with Fault-Tolerant Predictive Control for Large-Scale CACC Platoons

Communication delays and packet loss in large-scale Cooperative Adaptive Cruise Control (CACC) platoons degrade the accuracy of leader state propagation and threaten string stability. To address these, a novel heterogeneous networking architecture is proposed, integrating satellite direct vehicle links, cellular vehicle to everything (C-V2X), and in-vehicle passive optical networks (PON). Based on this architecture, a fault-tolerant synchronous predictive control scheme is developed. First, an analytical model for vehicle communication loop delay is established, incorporating the transmission characteristics of in-vehicle optical networks, C-V2X, and satellite links. This model captures delay uncertainty in the heterogeneous network and provides explicit stability conditions for controller design. Second, a time-window Kalman filtering mechanism is designed to overcome information asynchrony and packet loss, enabling robust multi-modal state fusion of the leading vehicle. Furthermore, a composite control strategy is formulated by integrating delay-compensated model predictive control with an H_∞-optimized linear quadratic regulator, which improves longitudinal acceleration tracking accuracy. Finally, hardware-in-the-loop experiments under realistic driving scenarios verify the effectiveness and robustness of the proposed architecture and control methods.