Reducing Time Headway in Homogeneous CACC Vehicle Platoons in the Presence of Packet Drops

Vegamoor, Vamsi; Kalathil, Dileep; Rathinam, Sivakumar; Darbha, Swaroop

doi:10.23919/ecc.2019.8795647

Cited by 12 publications

(5 citation statements)

References 9 publications

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“…If, for example, a hardware fault occurs and it is not possible for the V2V link to return to the 'Good' state, then Q = 0 and we will continue to receive packets with the probability q. This would be equivalent to the situation presented in our earlier work [6], with γ = q.…”

Section: V2v Linkmentioning

confidence: 96%

“…Following the procedure in [5] for this governing equation, we obtain the same bound on the minimum employable time headway as in our earlier work [6].…”

Section: V2v Linkmentioning

confidence: 96%

“…Majority of the previous work on CACC systems assumed that the communication channels are lossless. While it was understood that losses in the V2V link would degrade vehicle following and may induce instability [14], [15], until recently [6], there were no quantitative bounds relating the minimum string stable time headway to the loss characteristics of the channel. We restate the key results from [6] for convenience:…”

Section: A Cacc Vehicle Stringsmentioning

confidence: 99%

“…But in reality, wireless channels are prone to packet drops due to interference or bandwidth restrictions. Earlier work from the authors [6] proposed a new limit on the minimum time headway for CACC platoons, given a packet reception probability. In that work, the packet transmission process over the V2V link was modelled as a binomial random process.…”

Section: Introductionmentioning

confidence: 99%

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Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings

Vegamoor¹,

Yan²,

Rathinam³

et al. 2020

Preprint

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In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce our previous work on lossy CACC platoons by accommodating for burst-noise behavior in the V2V link. Further, through Monte Carlo type simulations, we demonstrate that connectivity can enhance traffic mobility and safety in a CACC string even when the deceleration capabilities of the vehicles in the platoon are heterogeneous.

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Section: V2v Linkmentioning

confidence: 96%

“…Following the procedure in [5] for this governing equation, we obtain the same bound on the minimum employable time headway as in our earlier work [6].…”

Section: V2v Linkmentioning

confidence: 96%

Section: A Cacc Vehicle Stringsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings

Vegamoor¹,

Yan²,

Rathinam³

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

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“…In recent years, the research on platoon mainly focuses on longitudinal control. Many issues have been discussed, such as string stability [8][9][10][11][12][13][14][15][16], the impact of communication problems (time delay [17][18][19], packet loss [20][21][22] and communication interrupt [11]), the influence of heterogeneous vehicle dynamics [13,16,23]. In addition, the communication topologies between vehicles will also affect the control effect of the platoon [24][25][26], and compared with the unidirectional communication topology, the bidirectional topology can improve the cohesion of the platoon but easier to lose the string stability [27].…”

Section: Introductionmentioning

confidence: 99%

A cooperative lane change approach for heterogeneous platoons under different communication topologies

Nie

Xie

et al. 2021

IET Intelligent Trans Sys

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To improve the platoon's passability and traffic efficiency, a cooperative lane change approach is proposed when the platoon encounters a slow obstacle vehicle ahead in this paper. The algorithm is designed for the heterogeneous platoon, that is, the vehicles are dynamically decoupled and have different parameters. The vehicles in the platoon can have different communication topologies. To complete the lane change process quickly, all vehicles in the platoon perform simultaneously. The approach is mainly divided into two parts: trajectory planning and cooperative control. In the trajectory planning part, combined with the polynomial method and the optimization method, the leading vehicle plans an optimal lane change trajectory according to its own states and the obstacle vehicle's states. A distributed model predictive control algorithm is designed in the cooperative control part to meet the requirement that all vehicles should change lanes simultaneously. Besides, the sufficient conditions to achieve the asymptotic stability are also given, and the simulation results can show the effectiveness of the algorithm.

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