Vehicle-to-Vehicle Communications for Platooning: Safety Analysis

Reducing the Standstill Spacing and Duration of Safe Braking Control in Vehicle Platoons With Delays

“…Subsection VI-A demonstrates the accuracy of the analysis of standstill spacing and braking duration by the DDEs, including the crossing criterion and the determination of d end and t end based on RK4. Next, in subsection VI-B, the improved performance of the proposed RSD algorithm is presented via comparison with four related algorithms, namely, the car-following algorithm [25], the feedback control algorithm [26], the maximum braking algorithm [27], and the fixed setting algorithm using the same control laws [6]. Finally, in subsection VI-C, the relationship among the limits of the stable velocity, the delay and the stable distance is presented as a reference for platoon control while ensuring safety.…”

“…In a previous study, an experimental platform and an actual-vehicle experiment were set up to evaluate emergency braking [24], but delay was not considered. Several works have considered delays in emergency braking [25]- [27]. For instance, Flores et al [25] presented a cooperative collision avoidance system based on pedestrian prediction, in which delay was considered merely in the correction of velocity, and in-vehicle safety was ignored.…”

“…Xu et al [26] compared different communication information structures and contents to analyze the intrinsic relationships between coordination and communication in platoons and enhance platoon safety, including during slow and fast braking. Johan et al [27] analyzed the platoon dynamics during emergency braking via packet loss probabilities and packet transmission delays. While the limitation of deceleration to guarantee invehicle safety was considered in these works, the effect of delays on braking was solely reflected in deriving the delay bounds to ensure safety [26], [27].…”

“…Johan et al [27] analyzed the platoon dynamics during emergency braking via packet loss probabilities and packet transmission delays. While the limitation of deceleration to guarantee invehicle safety was considered in these works, the effect of delays on braking was solely reflected in deriving the delay bounds to ensure safety [26], [27]. Unlike in the existing literature, in this paper, the control parameters are optimized to improve road utilization while guaranteeing safety, and delays in car-following interactions during braking control are considered.…”

“…To evaluate the performance of the proposed RSD algorithm, it is compared with four related algorithms, namely, the carfollowing algorithm [25], the feedback control algorithm [26] the maximum braking algorithm [27], and the fixed setting algorithm, which has the same control laws as the RSD algorithm. The parameters are listed in Table 2, and the parameters of the fixed setting algorithm are set as a = 4, b = 0.6, d sparse = 35 m, and d dense = 1.5d safe /d dense = 2d safe [6].…”