Joint Communication and Control for Wireless Autonomous Vehicular Platoon Systems

Abstract

Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect environmental information so as to maintain the target velocity and inter-vehicle distance.However, due to the uncertainty of the wireless channel, V2V communications within a platoon will experience a wireless system delay. Such system delay can impair the vehicles' ability to stabilize their velocity and distances within their platoon. In this paper, the problem of integrated communication and control system is studied for wireless connected autonomous vehicular platoons. In particular, a novel framework is proposed for optimizing a platoon's operation while jointly taking into account the delay of the wireless V2V network and the stability of the vehicle's control system. First, stability analysis for the control system is performed and the maximum wireless system delay requirements which can prevent the instability of the control system are derived. Then, delay analysis is conducted to determine the end-to-end delay, including queuing, processing, and transmission delay for the V2V link in the wireless network. Subsequently, using the derived wireless delay, a lower bound and an approximated expression of the reliability for the wireless system, defined as the probability that the wireless system meets the control system's delay needs, are derived. Then, the parameters of the control system are optimized in a way to maximize the derived wireless system reliability. Simulation results corroborate the analytical derivations and study the impact of parameters, such as the packet size and the platoon size, on the reliability performance of the vehicular platoon. More importantly, the simulation results shed light on the benefits of integrating control system and wireless network design while providing guidelines for designing an autonomous platoon so as to realize the required wireless network reliability and control system stability. A preliminary version of this work appears in the proceeding of IEEE ICC, 2018 [1].communication-centric works in [11]-[18] completely abstract the control system and do not study the impact of wireless communications on the platoon's stability. Meanwhile, the controlcentric works in [19]-[21] focus solely on the stability, while assuming a deterministic performance from the communication network. Such an assumption is not practical for platoons that coexist with 5G cellular networks, since interference from uncoordinated cochannel transmissions by other users, vehicles, and platoons can substantially impact the system's performance. Clearly, despite the interdependent performance of communication and control systems in a platoon, there is a lack in existing works that jointly study the wireless and control system performance for vehicular platoons.The main contribution of this paper is a novel, integrated control system and V2V wireless communication network framework for ...

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