Reducing time headway in platoons under the MPF topology when using sensors and wireless communications

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

10 Lataukset (Pure)

Abstrakti

In platoons under the multiple-predecessor following (MPF) topology, the exchange of information is usually assumed to be via Vehicle-to-Vehicle (V2V) communication links. Communication delays, however, deteriorate internal and string stability and, as a consequence, to guarantee stability of the platoon the time headway between vehicles should be increased. Autonomous vehicles are nowadays equipped with a multitude of sensors, the three primary being radar, lidar and camera. The combination of such sensors allows a vehicle, among others, to detect the distance and speed of nearby objects. In this paper, we incorporate the available sensors of vehicles to anticipate the communication delays vehicles experience with their preceding vehicles, thus improving the stability conditions and subsequently reducing the time headway. More specifically, by incorporating sensors we alleviate the communication delays between neighboring vehicles. We demonstrate that (i) the system is internally stable irrespective of the size of the communication delays, and (ii) the time headway can be reduced, by deriving a sufficient condition which provides a lower bound on the time headway that guarantees string stability. With this new lower bound on the time headway, platoons do not need to massively increase the time headway in order to compensate for the effects of communications delays. Simulations demonstrate the effectiveness of the proposed lower bound.

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 59th IEEE Conference on Decision and Control, CDC 2020
KustantajaIEEE
Sivut2823-2830
Sivumäärä8
ISBN (elektroninen)9781728174471
DOI - pysyväislinkit
TilaJulkaistu - 11 tammikuuta 2021
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaIEEE Conference on Decision and Control - Virtual, Online, Jeju Island, Etelä-Korea
Kesto: 14 joulukuuta 202018 joulukuuta 2020
Konferenssinumero: 59

Julkaisusarja

NimiProceedings of the IEEE Conference on Decision & Control
KustantajaIEEE
ISSN (painettu)0743-1546

Conference

ConferenceIEEE Conference on Decision and Control
LyhennettäCDC
MaaEtelä-Korea
KaupunkiJeju Island
Ajanjakso14/12/202018/12/2020

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