Graceful degradation of CACC performance subject to unreliable wireless communication

Ploeg, Jeroen; Semsar-Kazerooni, Elham; Lijster, Guido; Wouw, Nathan van de; Nijmeijer, Henk

doi:10.1109/itsc.2013.6728397

Cited by 57 publications

(35 citation statements)

References 9 publications

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“…trucks and cars) on the stability of traffic flow (Ngoduy, 2015), the impact of heterogeneous parasitic time delays and lags on ACC-equipped vehicle longitudinal dynamics (Ling and Gao, 2011), etc. Specifically, due to the natural limitations and uncertainties in practical vehicular networking, such as transmission range, packet loss, and probabilistic transmission delay, substantial work has been concerning how to design the CDS under such communication constraints and uncertainties (Ghasemi et al, 2013, Hao and Barooah, 2012, Jin and Orosz, 2014, Kesting et al, 2010b, Middleton and Braslavsky, 2012, Oncu et al, 2011, Ploeg et al, 2013. This paper focuses on bridging the gap between traffic flow modeling and communication approaches in order to build up better cooperative systems via a realistic inter-communication design.…”

Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

222

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Recent developments of information and communication technologies (ICT) have enabled vehicles to timely communicate with each other through wireless technologies, which will form future (intelligent) traffic systems (ITS) consisting of so-called connected vehicles. Cooperative driving with the connected vehicles is regarded as a promising driving pattern to significantly improve transportation efficiency and traffic safety. Nevertheless, unreliable vehicular communications also introduce packet loss and transmission delay when vehicular kinetic information or control commands are disseminated among vehicles, which brings more challenges in the system modelling and optimization. Currently, no data has been yet available for the calibration and validation of a model for ITS, and most research has been only conducted for a theoretical point of view. Along this line, this paper focuses on the (theoretical) development of a more general (microscopic) traffic model which enables the cooperative driving behaviour via a so-called inter-vehicle communication (IVC). To this end, we design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together. More specifically, the IEEE 802.11p, the de-facto vehicular networking standard required to support ITS applications, is selected as the IVC protocols of the CDS, in order to investigate how the vehicular communications affect the features of intelligent traffic flow. This study essentially explores the relationship between IVC and cooperative driving, which can be exploited as the reference for the CDS optimization and design.

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Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

222

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“…To tackle the packet loss in impaired V2V communication, Ploeg et al [90] utilized onboard sensors to estimate the preceding vehicles acceleration which should be originally obtained via V2V communication. Based on the estimated acceleration, the proposed control strategy of graceful degradation of one-vehicle look-ahead CACC can achieve a noticeable improvement of string stability characteristics.…”

Section: Cooperative Platoon Drivingmentioning

confidence: 99%

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Jia

Wang

et al. 2016

IEEE Commun. Surv. Tutorials

615

266

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Abstract-Vehicles on the road with some common interests can cooperatively form a platoon-based driving pattern, in which a vehicle follows another one and maintains a small and nearly constant distance to the preceding vehicle. It has been proved that, compared to driving individually, such a platoon-based driving pattern can significantly improve the road capacity and energy efficiency. Moreover, with the emerging vehicular adhoc network (VANET), the performance of platoon in terms of road capacity, safety and energy efficiency, etc., can be further improved. On the other hand, the physical dynamics of vehicles inside the platoon can also affect the performance of VANET. Such a complex system can be considered as a platoon-based vehicular cyber-physical system (VCPS), which has attracted significant attention recently. In this paper, we present a comprehensive survey on platoon-based VCPS. We first review the related work of platoon-based VCPS. We then introduce two elementary techniques involved in platoon-based VCPS: the vehicular networking architecture and standards, and traffic dynamics, respectively. We further discuss the fundamental issues in platoon-based VCPS, including vehicle platooning/clustering, cooperative adaptive cruise control (CACC), platoon-based vehicular communications, etc., and all of which are characterized by the tight coupled relationship between traffic dynamics and VANET behaviors. Since system verification is critical to VCPS development, we also give an overview of VCPS simulation tools. Finally, we share our view on some open issues that may lead to new research directions.Index Terms-Platoon, Cyber-physical system (CPS), Vehicular ad-hoc network (VANET), Platoon-based vehicular communications, Cooperative adaptive cruise control (CACC), Simulator.

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“…A recent paper that starts considering these aspects is [20], where, if a communication fault is detected, it is signaled to the control system that switches from one particular Cooperative Adaptive Cruise Control (CACC) control law to another requiring less coordination. The authors focus only on pure following, but this work represent a necessary step towards safe deployment of this technology.…”

Section: Related Workmentioning

confidence: 99%

Supporting platooning maneuvers through IVC: An initial protocol analysis for the JOIN maneuver

Segata

Bloessl

Joerer

et al. 2014

2014 11th Annual Conference on Wireless on-Demand Network Systems and Services (WONS)

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Driving vehicles in platoons has the potential to improve traffic efficiency, increase safety, reduce fuel consumption, and make driving experience more enjoyable. A lot of effort is being spent in the development of technologies, like radars, enabling automated cruise control following and ensuring emergency braking if the driver does not react in time; but these technologies alone do not empower real platooning. The initial idea of building dedicated infrastructures for platoons, has been set aside favouring the philosophy that foresees scenarios, where automated vehicles share the road with human-driven ones. This arises interesting new questions regarding the interactions between the two categories of vehicles. In this paper we focus on the analysis of interferences caused by non-automated vehicles during a JOIN maneuver. We define the application layer protocol to support the maneuver, together with situations that can prevent successful termination, and describe how they can be detected. The validity of the approach is proven by means of simulations, showing either that the maneuver can successfully be performed, or safely be aborted. Finally, we analyze the impact of the Packet Error Rate (PER) on the failure rate of the maneuver, showing that packet losses mainly affect the maneuver from a coordination point of view, rather than stability of the system, i.e., even at high loss rates, cars never violated a minimum safety distance.

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Graceful degradation of CACC performance subject to unreliable wireless communication

Cited by 57 publications

References 9 publications

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Supporting platooning maneuvers through IVC: An initial protocol analysis for the JOIN maneuver

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