Preventing Automotive Pileup Crashes in Mixed-Communication Environments

Chakravarthy, Animesh; Song, Kyungyeol; Féron, Éric

doi:10.1109/tits.2009.2018323

Cited by 33 publications

(29 citation statements)

References 15 publications

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“…Furthermore, [22] extensively investigates the limitations on performance, whereas in [23], a controller design methodology is presented. Finally, in [24] the performance-oriented approach is adopted to investigate a warning system for preventing head-tail collisions in mixed traffic. In the performance-oriented approach, string stability is characterized by the amplification in upstream direction of either distance error, velocity, or acceleration, the specific choice depending on the design requirements at hand.…”

Section: String Stability Reviewmentioning

confidence: 99%

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

Ploeg¹,

Wouw

Nijmeijer

2014

IEEE Trans. Contr. Syst. Technol.

540

417

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Abstract-Nowadays, throughput has become a limiting factor in road transport. An effective means to increase the road throughput is to employ a small intervehicle time gap using automatic vehicle-following control systems. String stability, i.e., the disturbance attenuation along the vehicle string, is considered an essential requirement for the design of those systems. However, the formal notion of string stability is not unambiguous in literature, since both stability and performance interpretations exist. Therefore, a novel definition for string stability of nonlinear cascaded systems is proposed, using input-output properties. This definition is shown to result in well-known string stability conditions for linear cascaded systems. The theoretical results are experimentally validated using a platoon of six passenger vehicles equipped with cooperative adaptive cruise control.Index Terms-Cascaded systems, cooperative adaptive cruise control (CACC), input-output stability, string stability, vehicle platoons.

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Section: String Stability Reviewmentioning

confidence: 99%

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

Ploeg¹,

Wouw

Nijmeijer

2014

IEEE Trans. Contr. Syst. Technol.

540

417

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“…The above control law is a special case of the r vehicle look ahead control law in (12) with two vehicle feedback, where the second vehicle is the r th vehicle. If k a1 = k ar = k a ∈ (0, 1 2 ), k v1 = k vr = k v , and k p1 = k pr = k p , define…”

Section: Cthp With Immediate and R Th Predecessor Informationmentioning

confidence: 99%

Benefits of V2V Communication for Autonomous and Connected Vehicles

Darbha

Konduri

Pagilla

2019

IEEE Trans. Intell. Transport. Syst.

157

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In this paper, we investigate the benefits of Vehicleto-Vehicle (V2V) communication for autonomous vehicles and provide results on how V2V information helps reduce employable time headway in the presence of parasitic lags. For a string of vehicles adopting a Constant Time Headway Policy (CTHP) and availing the on-board information of predecessor's vehicle position and velocity, the minimum employable time headway (hmin) must be lower bounded by 2τ0 for string stability, where τ0 is the maximum parasitic actuation lag. In this paper, we quantify the benefits of using V2V communication in terms of a reduction in the employable time headway: (1) If the position and velocity information of r immediately preceding vehicles is used, then hmin can be reduced to 4τ0/(1 + r); (2) furthermore, if the acceleration of 'r' immediately preceding vehicles is used, then hmin can be reduced to 2τ0/(1 + r); and (3) if the position, velocity and acceleration of the immediate and the r-th predecessors are used, then hmin ≥ 2τ0/(1 + r). Note that cases (2) and (3) provide the same lower bound on the minimum employable time headway; however, case (3) requires much less communicated information.While AVs employing CTHP may not require communicated information for string stability, the use of V2V and I2V communications when employing CTHP may seem paradoxical and this point has not clearly been articulated in [4]. The necessity for using communication when employing CTHP in trucks was recently brought to the attention of the authors by Ploeg [5] who noticed string instability without V2V or I2V communication in a platoon of three trucks when employing a time headway of about 0.35 seconds. Other numerical simulations and experiments also seem to suggest that employing the acceleration or velocity information of immediately preceding vehicle(s) can help reduce the time headway [3], [6]- [8]. We must point out that the topic of communication and its benefit in reducing time headway was first considered for Semi-Autonomous Cooperative ACC in [6]; the points of departure of this work from [6] are many fold: (1) in this work, we consider architectures involving multiple predecessors, and (2) we do not feed back acceleration of controlled vehicle.In order to reduce the employable time headway, modern systems such as the Cooperative Adaptive Cruise Control (CACC) systems utilize vehicular communication to acquire additional information [7]. In this work, we quantify the benefits of V2V communication in terms of reduction in the employable time headway in the presence of parasitic lags while guaranteeing string stability. For this purpose, we consider a singular perturbation to model parasitic actuation dynamics.The advantage of using V2V communication in improving safety of the vehicles in the platoon has been explored in the literature. For example, the use and benefits of V2V for collision avoidance via emergency lane changing in AVs was discussed in [9]. In an emergency braking scenario, intervehicular communication aids coordination among v...

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“…Inter-vehicle spacing has been extensively explored [9], under various car-following models [10] and for mixed vehicle networks [11]. We apply and extend existing work to the cohort construct.…”

Section: ) Nominal Inter-vehicle Spacing and Inter-cohort Spacingmentioning

confidence: 99%

Cohorts and groups for safe and efficient autonomous driving on highways

Lann

2011

2011 IEEE Vehicular Networking Conference (VNC)

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Preventing Automotive Pileup Crashes in Mixed-Communication Environments

Cited by 33 publications

References 15 publications

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

Benefits of V2V Communication for Autonomous and Connected Vehicles

Cohorts and groups for safe and efficient autonomous driving on highways

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