Cooperative adaptive cruise control over unreliable networks: an observer-based approach to increase robustness to packet loss

Acciani, Francesco; Frasca, Paolo; Stoorvogel, Anton A.; Semsar-Kazerooni, Elham; Heijenk, Geert

doi:10.23919/ecc.2018.8550585

Cited by 27 publications

(14 citation statements)

References 12 publications

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“…. , N in accordance to similarly themed works [11], [27]. These assumptions are adopted for simplicity in the exposition, and should have no impact on the controller design nor on the stability properties of the platoon.…”

Section: A Platoon Setupmentioning

confidence: 94%

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Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

2021

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This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology with a constant time headway policy. We assume that each agent in the platoon sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To reduce the negative effects of data loss over the string stability and performance of the platoon, we use simple strategies that modify the measurement, error, and control signals of the feedback control loop, in each vehicle, when a dropout occurs. Such strategies are based on holding the previous value, dropping to zero, or replacing with a prediction based on a simple linear extrapolation. We performed a simulation-based comparison among a set of different strategies, and found that some strategies are favorable in terms of performance, while some others present improvements for string stabilization. These results strongly suggest that proper design of compensation schemes for the communications of interconnected multi-agent systems plays an important role in their performance and their scalability properties.INDEX TERMS Vehicular platoon control, lossy channels, string stability, constant time-headway, networked systems.

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Section: A Platoon Setupmentioning

confidence: 94%

“…Within the recent literature, communication issues have been incorporated in the study of platooning, although the analysis of string stability is restricted [7], [22], [23] or absent [25]- [27]. Among several communication problems, random data loss is one of the most relevant and recurring.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

2021

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“…2. Under Assumption 2, consider the vehicles described by ( 5) and the leading vehicle described by (6), the controllers ( 10), ( 18), (20) and the adaptive laws ( 11), ( 19), (21) with the following modificationṡ…”

Section: Well-posedness Of the Inputmentioning

confidence: 99%

“…Defining such a command is complex, especially in the presence of uncertain vehicle parameters (driveline time constants). Most CACC protocols ideally assume homogeneous drivelines or exactly known driveline constants [20], [21].…”

Section: Introductionmentioning

confidence: 99%

Cyclic Communication in Adaptive Strategies to Platooning: The Case of Synchronized Merging

Liu

Baldi

Jain

et al. 2021

IEEE Trans. Intell. Veh.

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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“…Besides the benefits introduced by IVC, this wireless network exposes vehicle control systems to network induced imperfections, i.e., packet dropping, network delays [5], and network vulnerabilities, as e.g., cyber attacks [6]. Such an unreliable and compromised network can affect vehicle platoons by leading to loss of performance and safety-related issues, e.g., collisions, which could lead to loss of human lives [6]- [8].…”

Section: Introduction a Backgroundmentioning

confidence: 99%

A Hybrid Controller for DOS-Resilient String-Stable Vehicle Platoons

Merco¹,

Ferrante²,

Pisu³

2021

IEEE Trans. Intell. Transport. Syst.

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This paper deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet dropouts. We present a controller tuning procedure based on linear matrix inequalities (LMI) that maximizes the resiliency to DOS attacks, while guaranteeing performance and string stability. The design procedure returns controller gains and gives a lower bound on the maximum allowable number of successive packet dropouts. A numerical example is employed to illustrate the effectiveness of the proposed approach.Index Terms-Vehicle platooning, hybrid systems, denial of service attack.

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Cooperative adaptive cruise control over unreliable networks: an observer-based approach to increase robustness to packet loss

Cited by 27 publications

References 12 publications

Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

Cyclic Communication in Adaptive Strategies to Platooning: The Case of Synchronized Merging

A Hybrid Controller for DOS-Resilient String-Stable Vehicle Platoons

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