Cooperation with disagreement correction in the presence of communication failures

Abstract

Vehicle-to-vehicle communication is a fundamental requirement for maintaining safety standards in high-performance cooperative vehicular systems. The vehicles periodically exchange critical information among nearby vehicles and determine their maneuvers according to the information quality and the established strategies. However, wireless communication is failure prone. Thus, participants can be unaware that other participants have not received the needed information on time. This can result in conflicting (unsafe) trajectories. We present a deterministic solution that allows all participants to use a fallback strategy in the presence of communication delays. We base our solution on a timed distributed protocol. In the presence of message omission and delay failures, the protocol disagreement period is bounded by a constant (in the order of milliseconds) that may depend on the message delay in the absence of these failures. We demonstrate correctness and perform experiments to corroborate its efficiency. We explain how vehicular platooning can use the proposed solution for providing high performance while meeting the safety standards in the presence of communication failures. We believe that this work facilitates the implementation of cooperative driving systems that have to deal with inherent (communication) uncertainties. * This paper appears as a technical report [26] and as an extended abstract [23].

How to Stop Disagreeing and Start Cooperatingin the Presence of Asymmetric Packet Loss

“…The algorithm presented here is the one that allowed the safety kernel of [ 18 , 19 ] to consider the data quality of all vehicles when taking this decision. In an earlier version of this work [ 20 ], we proposed the studied solution along with experiments for validating it. Note that this paper adds the formal correctness proof of that solution, which does not appear in [ 20 ].…”

“…In an earlier version of this work [ 20 ], we proposed the studied solution along with experiments for validating it. Note that this paper adds the formal correctness proof of that solution, which does not appear in [ 20 ].…”