Analysis of Packet drops and Channel Crowding in Vehicle Platooning using V2X communication

Tangirala, Nagacharan Teja; Abraham, Anuj; Choudhury, Apratim; Vyas, Pranjal; Zhang, Rongkai; Dauwels, Justin

doi:10.1109/ssci.2018.8628872

Cited by 11 publications

(3 citation statements)

References 10 publications

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“…However, the work does not investigate any scenario with both network conditions. A similar strategy was applied in [26] to evaluate the impact of a deliberate communication failure in one of the vehicles and the consequences on platooning stability. This work used a simulated 14-vehicle platooning with WAVE communication with fixed time delays.…”

Section: Related Work a Communication Impact On Cooperative Platoon P...mentioning

confidence: 99%

Improving the Performance of Cooperative Platooning With Restricted Message Trigger Thresholds

et al. 2022

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Cooperative Vehicular Platooning (Co-VP) is one of the most prominent and challenging applications of Intelligent Traffic Systems. To support such vehicular communications, the ETSI ITS G5 standard specifies event-based communication profiles, triggered by kinematic parameters such as speed. The standard defines a set of threshold values for such triggers but no careful assessment in realistic platooning scenarios has been done to confirm the suitability of such values. In this work, we investigate the safety and performance limitations of such parameters in a realistic platooning co-simulation environment. We then propose more conservative threshold values, that we formalize as a new profile, and evaluate their impact in the longitudinal and lateral behaviour of a vehicular platoon as it carries out complex driving scenarios. Furthermore, we analyze the overhead introduced in the network by applying the new threshold values. We conclude that a pro-active message transmission scheme leads to improved platoon performance for highway scenarios, notably an increase greater than 40% in the longitudinal performance of the platoon, while not incurring in a significant network overhead. The obtained results also demonstrated an improved platoon performance for semi-urban scenarios, including obstacles and curves, where the heading error decreases in 26%, with slight network overhead.

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Section: Related Work a Communication Impact On Cooperative Platoon P...mentioning

confidence: 99%

Improving the Performance of Cooperative Platooning With Restricted Message Trigger Thresholds

et al. 2022

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“…Note, that also subsystem i has to communicate such an uncertainty set to all its neighbors. The determination of this uncertainty set is described later in (20).…”

Section: Distributed Control Systemmentioning

confidence: 99%

“…With respect to versions of distributed MPC taking network imperfections into account, solutions have been proposed in [15]- [17]. Common lines in these studies are, however, that network delays are either assumed to be negligibly small compared to the dominant plant dynamics [18]- [20], or that an upper bound of the delay (commonly named as worst case delay) is assumed to be known [21], [22]. Own work in this direction has aimed at devising robust MPC strategies to compensate for the maximum delays [17], [23], or to use schemes of event-based communication [24].…”

Section: Introductionmentioning

confidence: 99%

Using AoI Forecasts in Communicating and Robust Distributed Model-Predictive Control

Hahn¹,

Schoeffauer²,

Wunder³

et al. 2021

Preprint

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In order to enhance the performance of cyberphysical systems, this paper proposes the integrated design of distributed controllers for distributed plants and the control of the communication network. Conventional design methods use static interfaces between both entities and therefore rely on worst-case estimations of communication delay, often leading to conservative behavior of the overall system. By contrast, the present approach establishes a robust distributed model-predictive control scheme, in which the local subsystem controllers operate under the assumption of a variable communication schedule that is predicted by a network controller. Using appropriate models for the communication network, the network controller applies a predictive network policy for scheduling the communication among the subsystem controllers across the network. Given the resulting timevarying predictions of the age of information, the paper shows under which conditions the subsystem controllers can robustly stabilize the distributed system. To illustrate the approach, the paper also reports on the application to a vehicle platooning scenario.

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CopaDrive: An Integrated ROS Cooperative Driving Test and Validation Framework

Filho

Severino

Rodrigues

et al. 2021

Studies in Computational Intelligence

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Analysis of Packet drops and Channel Crowding in Vehicle Platooning using V2X communication

Cited by 11 publications

References 10 publications

Improving the Performance of Cooperative Platooning With Restricted Message Trigger Thresholds

Improving the Performance of Cooperative Platooning With Restricted Message Trigger Thresholds

Using AoI Forecasts in Communicating and Robust Distributed Model-Predictive Control

CopaDrive: An Integrated ROS Cooperative Driving Test and Validation Framework

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