On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Abolfazli, Elham; Besselink, Bart; Charalambous, Themistoklis

doi:10.1109/tits.2021.3087484

Cited by 30 publications

(23 citation statements)

References 40 publications

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“…Furthermore, the notions of optimality and energy efficiency can be further addressed as future research directions to design minimal cost networks in terms of communication cost and energy consumption via the results in [27], [35], [38], [39]. Addressing delay-tolerant protocols is another promising research direction [40]…”

Section: Discussionmentioning

confidence: 99%

Linear TDOA-based Measurements for Distributed Estimation and Localized Tracking

Doostmohammadian¹,

Themistoklis²

2022

Preprint

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We propose a linear time-difference-of-arrival (TDOA) measurement model to improve distributed estimation performance for localized target tracking. We design distributed filters over sparse (possibly large-scale) communication networks using consensus-based data-fusion techniques. The proposed distributed and localized tracking protocols considerably reduce the sensor network's required connectivity and communication rate. We, further, consider κ-redundant observability and faulttolerant design in case of losing communication links or sensor nodes. We present the minimal conditions on the remaining sensor network (after link/node removal) such that the distributed observability is still preserved and, thus, the sensor network can track the (single) maneuvering target. The motivation is to reduce the communication load versus the processing load, as the computational units are, in general, less costly than the communication devices. We evaluate the tracking performance via simulations in MATLAB.

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Section: Discussionmentioning

confidence: 99%

Linear TDOA-based Measurements for Distributed Estimation and Localized Tracking

Doostmohammadian¹,

Themistoklis²

2022

Preprint

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“…Then, the minimum time headway for a platoon with the time lag is found. This result has been extended in [9], by considering the effects of communication delays on the minimum time headway. In addition to the analysis of the time headway in MPF topology, there are other works related to this topology.…”

Section: Introductionmentioning

confidence: 99%

Towards Establishing String Stability Conditions For Heterogeneous Vehicle Platoons Under the MPF Topology

Abolfazli

Jiang

Charalambous

2022

2022 European Control Conference (ECC)

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Enhancing the adaptive cruise control (ACC) functionality with wireless communication links, in addition to sensors such as radars and/or lidars, cooperative adaptive cruise control (CACC) is facilitated. CACC enables driving at small intervehicle distances, forming a vehicle platoon system, while maintaining string stability (i.e., the disturbance is attenuated along the vehicle string). While string stability is a necessary requirement for the design of vehicle platoons, most of the works are limited to homogeneous vehicles or platoons with a single heterogeneity, which is not often the case in reality. In this work, we make an attempt to provide sufficient conditions for string stability for a very general case of heterogeneous vehicle platoons under the multiple-predecessor following (MPF) topology. More specifically, we focus on the following forms of heterogeneity: different parasitic lags, different time headways, different controller parameters and different communication time delays. First, we obtain sufficient conditions for string stability for the general case. Homogeneous vehicle platoons or platoons with a single heterogeneity constitute special cases. Since providing closed-form expressions for the general case is not feasible, we analyze some simpler, yet practical, cases. In particular, we allow the time headway and the controllers to be identical (this can be part of the design of the vehicle platoons) and we consider the case in which parasitic lags and communication time delays can be different. Case studies are considered in simulations in order to give more insights and limitations of our results.

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“…The minimum employable time headway for platoons with time lags under the MPF topology, the topology considered in this work, is presented in [18] and [19], using two different definitions of the desired inter-vehicle distance. The work [19] was expanded in [20], by considering the effects of communication delays on the minimum time headway. All of the aforementioned works show that larger time lags and time delays lead to a larger minimum time headway, as it is expected.…”

Section: Introductionmentioning

confidence: 99%

“…The MPF topology has been made possible by using V2V wireless communication, which, due to its wireless nature, inevitably causes time delays (due to, e.g., encoding and decoding of messages, packet losses that trigger retransmissions, etc). In [20], it is assumed that the controller of each vehicle only has access to delayed information, i.e., its own states as well as all the predecessors' states come through wireless communication, which has a time delay. To reduce the effects of communication delays, sensors like radar, lidar or cameras can be used together with V2V communications [27], [28].…”

Section: Introductionmentioning

confidence: 99%

Minimum Time Headway in Platooning Systems Under the MPF Topology for Different Wireless Communication Scenario

Abolfazli

Besselink

Charalambous

2023

IEEE Trans. Intell. Transport. Syst.

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The multiple-predecessor following (MPF) topology is used in vehicle platoons to make it robustly string stable and reduce the minimum employable time headway. It has been demonstrated that communication imperfections such as time delays coming from wireless communications can affect string stability as well as the minimum time headway required to guarantee string stability. Specifically, it was shown that the larger the time delay, the longer the minimum time headway will be. However, by utilizing on-board vehicle sensors, such as radar, lidar and cameras, the distance and speed of nearby vehicles can be measured almost instantaneously, i.e., with almost no delay. Another effective parameter on string stability and minimum time headway is the heterogeneity of the vehicles. Due to the immense complexity of the MPF topology, string stability analysis of this topology in literature has been confined to homogeneous platoons. In this paper, we consider the case of heterogeneous platoons under the MPF topology with the use of the combination of sensors and wireless communications for receiving information. Following that, we find conditions to guarantee the internal and string stability for the heterogeneous case and propose the minimum time headway required to guarantee string stability. Finally, we provide a table, in which we propose the minimum time headway for two other wireless communication scenarios as well: (i) having no communication delay and (ii) having fully-delayed information, i.e., all information, whether it comes from the ego vehicle or its predecessors, is delayed. In addition to exploring the analysis of string stability for the vehicles with more possible connections (vehicles after the r t h vehicle, when information from r immediate vehicles is used), we study the string stability conditions (with which we aim at avoiding collisions) and find the minimum time headway for the first few vehicles (vehicle r and all its predecessors). Numerical results clearly show the effectiveness of the proposed lower bounds.

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On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Cited by 30 publications

References 40 publications

Linear TDOA-based Measurements for Distributed Estimation and Localized Tracking

Linear TDOA-based Measurements for Distributed Estimation and Localized Tracking

Towards Establishing String Stability Conditions For Heterogeneous Vehicle Platoons Under the MPF Topology

Minimum Time Headway in Platooning Systems Under the MPF Topology for Different Wireless Communication Scenario

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