Remote control of automated vehicles over unreliable channels

Mohammad A. Nazari, Themistoklis Charalambous, Jonas Sjöberg, Henk Wymeersch

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

3 Citations (Scopus)

Abstract

We consider the problem of controlling a vehicle moving towards an intersection by means of a remote controller over an unreliable channel. This channel affects both uplink communication (when the vehicle sends its state information to the controller) and downlink information (when the vehicle receives control actions from the controller). We propose a probabilistic framework to compute control actions at the controller in the presence of such unreliable communications. The controller is evaluated under different channel conditions and compared to two nominal controllers, one that assumes perfect communication and one that assumes no communication. We find that for low packet loss rates, the proposed controller leads to less aggressive control actions than the former and generally lower cost than the latter. We additionally consider the mismatch between the perceived knowledge of the channel at the controller, and the actual channel conditions. We evaluate the performance of our controller under this mismatch, which is of interest when the controller is designed.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE Wireless Communications and Networking Conference, WCNC 2018
PublisherIEEE
Number of pages6
Volume2018-April
ISBN (Electronic)9781538617342
DOIs
Publication statusPublished - 8 Jun 2018
MoE publication typeA4 Article in a conference publication
EventIEEE Wireless Communications and Networking Conference - Barcelona, Spain
Duration: 15 Apr 201818 Apr 2018

Publication series

NameIEEE Wireless Communications and Networking Conference
PublisherIEEE
ISSN (Print)1525-3511
ISSN (Electronic)1558-2612

Conference

ConferenceIEEE Wireless Communications and Networking Conference
Abbreviated titleWCNC
CountrySpain
CityBarcelona
Period15/04/201818/04/2018

Keywords

  • uplink
  • packet loss
  • downlink
  • covariance matrices
  • uncertainty
  • automated vehicles
  • remote control

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  • Cite this

    Nazari, M. A., Charalambous, T., Sjöberg, J., & Wymeersch, H. (2018). Remote control of automated vehicles over unreliable channels. In Proceedings of the 2018 IEEE Wireless Communications and Networking Conference, WCNC 2018 (Vol. 2018-April). (IEEE Wireless Communications and Networking Conference). IEEE. https://doi.org/10.1109/WCNC.2018.8377202