Impact of packet loss on CACC string stability performance

Abstract

Abstract-Recent development in wireless technology enables communication between vehicles. The concept of Co-operative Adaptive Cruise Control (CACC) -which uses wireless communication between vehicles -aims at string stable behaviour in a platoon of vehicles. "String stability" means any non-zero position, speed, and acceleration errors of an individual vehicle in a string do not amplify when they propagate upstream. In this paper, we will discuss the string stability of CACC and evaluate its performance with various packet loss ratios, beacon sending frequencies and time headway in simulations. The simulation framework is built up with a controller prototype, a traffic simulator, and a network simulator.

A Reliable Token-Based MAC Protocol for Delay Sensitive Platooning Applications

“…Although these proposals manage to keep the channel access delay and packet loss at acceptable levels, most of them are designed to obtain benefits for generic vehicular ad hoc networks, and not for specific applications such as platooning. Some works focus on practical issues and their impacts on platooning performance, such as [11] and [12]. In [11] the impact of packet loss on the performance of platooning applications was evaluated, and in [12] antenna placement and its impact on the packet error rate is evaluated using real-world experiments.…”

“…Some works focus on practical issues and their impacts on platooning performance, such as [11] and [12]. In [11] the impact of packet loss on the performance of platooning applications was evaluated, and in [12] antenna placement and its impact on the packet error rate is evaluated using real-world experiments. However, most research about platooning is related to strategies for improving timing and reliability either through the introduction of TDMA slots, [2], [3], [7], [10], [13] or through retransmissions [4], [5].…”

Safety in Vehicular Networks—on the Inevitability of Short-Range Directional Communications

“…Are copies of M delivered to all string members within stipulated time bounds? In cooperative adaptive cruise control (CACC) approaches, where string stability is a major issue [13], consequences of V2V message losses and time-unbounded message deliveries regarding safety are ignored, with few exceptions [14,15,16]. Furthermore, data collected in platooning experiments show that it is inappropriate to rely on V2V broadcast from the lead vehicle [17].…”

Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

“…The vehiclefollowing controller efficiently describes the vehicle dynamics and cooperative maneuvers residing in the system. The performance and robustness of a CACC consensus algorithm were discussed in [8], where packet loss, network failures, and beaconing frequencies were all taken into consideration when the simulation framework is built with the CACC controller developed by [9]. Di Bernardo et al [10] designed a distributed control protocol to solve the platooning problem, which depends on a local action of the vehicle itself and a cooperative action received from the leader and neighboring vehicles.…”