Provably-Correct Safety Protocol for Cooperative Platooning
Sebastian Mair, Matthias Althoff
备注：
Copyright 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Cooperative Adaptive Cruise Control (CACC) is a well-studied technology for forming string-stable vehicle platoons. Ensuring collision avoidance is particularly difficult in CACC due to the small desired inter-vehicle spacing. We propose a safety protocol preventing collisions in a provably-correct manner while still maintaining a small distance to the preceding vehicle, by utilizing communicated braking capabilities. In addition, the safety of the protocol is ensured despite possible communication failures. While our concept can be applied to any CACC system, we particularly consider a class of CACCs, where the platoon vehicles successively agree on a consensus behavior. Our safety protocol is evaluated on various scenarios using the CommonRoad benchmark suite.
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main cooperative driving applications that are currently under study. These applications offer significant improvements over current advanced driver assistant systems such as adaptive cruise control (ACC). The primary motivation of CACC and Platooning is to reduce traffic congestion and improve traffic flow, traffic throughput, and highway capacity. These applica…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in platooning tracking control, which could cause safety and traffic capacity concerns. To address these issues, in this paper, we investigate cooperative platooning tracking control and intermittent optimization problems for connected automated vehicles (CAVs) with a nonlinear car-following model. We assume that the external inputs of the leader CAV contain unknown …
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt typical Adaptive Cruise Control (ACC) strategies.…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated convoy of heavy-duty trucks in the form of platooning is one such application designed to maintain close gaps between trucks to exploit drafting benefits and improve fuel economy, and has traditionally been handled with classically-designed connected and adaptive cruise control (CACC). This paper is motivated by demonstrated limitations of such a control strateg…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and businesses. Addressing this issue is therefore of paramount interest due to the perceived dual benefit. Many technologies were and are being developed. These include adaptive traffic signals, dedicated lanes, etc. This paper presents a simple platooning algorithm that maintains relatively small distances (pre-specified time gap) between consecutive vehicles to enhanc…
Experimentally-Driven Analysis of Stability in Connected Vehicle Platooning: Insights and Control Strategies
Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University（艾尔沃大学电气工程与自动化系）；Department of Electrical and Computer Engineering, School of Engineering, University of Cyprus（塞浦路斯大学电气与计算机工程系）；FinEst Centre for Smart Cities, Tallinn, Estonia（爱沙尼亚塔林智能城市中心）
We study the strategic interaction among vehicles in a non-cooperative platoon coordination game. Vehicles have predefined routes in a transportation network with a set of hubs where vehicles can wait for other vehicles to form platoons. Vehicles decide on their waiting times at hubs and the utility function of each vehicle includes both the benefit from platooning and the cost of waiting. We show that the platoon coordination game is a potential game when the travel times are either deterministic or stochastic, and the vehicles decide on their waiting times at the beginning of their journeys.…
Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design
Technical University of Munich (TUM)（慕尼黑工业大学）；Ecole Polytechnique Federale de Lausanne (EPFL)（洛桑联邦理工学院）；Southeast University（东南大学）；University of Grenoble Alpes, CNRS, Inria, Grenoble INP, GIPSA-Lab（格勒诺布尔阿尔卑斯大学、法国国家科学研究中心、法国国家信息与自动化研究所、格勒诺布尔理工学院、GIPSA实验室）
The scope of automotive functions has grown from a single-vehicle as an entity to multiple vehicles working together as an entity, referred to as cooperative driving. The current automotive safety standard, ISO 26262, is designed for single vehicles. With the increasing number of cooperative driving capable vehicles on the road, it is now imperative to systematically assess the functional safety of architectures of these vehicles. Many methods are proposed to assess architectures with respect to different quality attributes in the software architecture domain, but to the best of our knowledge,…
Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous vehicle functionalities including platooning, distributed route management, etc. Unfortunately, malicious V2V communications can subvert CACC, leading to string instability and road accidents. In this paper, we develop a novel resiliency infrastructure, RACCON, for detecting and mitigating V2V attacks on CACC. RACCON uses machine learning to develop an on-board pr…
We consider the platoon matching problem for a set of trucks with the same origin, but different destinations. It is assumed that the vehicles benefit from traveling in a platoon for instance through reduced fuel consumption. The vehicles belong to different fleet owners and their strategic interaction is modeled as a non-cooperative game where the vehicle actions are their departure times. Each truck has a preferred departure time and its utility function is defined as the difference between its benefit from platooning and the cost of deviating from its preferred departure time. We show that …
OpenConvoy: Universal Platform for Real-World Testing of Cooperative Driving Systems
College of Engineering；Computer Science University of Central Florida Orlando, United States https://orcid.org/0009-0007-1826-373X；College of Electrical；Computer Engineering University of Central Florida Orlando, United States；Computer Science University of Central Florida Orlando, United States
Cooperative Adaptive Cruise Control (CACC) is a vehicular technology that allows groups of vehicles on the highway to form in closely-coupled automated platoons to increase highway capacity and safety, and decrease fuel consumption and CO2 emissions. The underlying mechanism behind CACC is the use of Vehicle-to-Vehicle (V2V) wireless communication networks to transmit acceleration commands to adjacent vehicles in the platoon. However, the use of V2V networks leads to increased vulnerabilities against faults and cyberattacks at the communication channels. Communication networks serve as new acc…
Given the increasing popularity and demand for connected and autonomous vehicles (CAVs), Eco-driving and platooning in highways and urban areas to increase the efficiency of the traffic system is becoming a possibility. This paper presents Eco-driving trajectory planning for a platoon of heterogeneous electric vehicles (EVs) in urban environments. The proposed control strategy for the platoon considers energy consumption, mobility and passenger comfort, with which vehicles may pass signalized intersections with no stops. For a given urban route, first, the platoon's leader vehicle employs dyna…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through Vehicle-to-Vehicle (V2V) wireless communication networks. CACC increases traffic throughput and safety, and decreases fuel consumption. However, the surge of vehicle connectivity has brought new security challenges as vehicular networks increasingly serve as new access points for adversaries trying to deteriorate the platooning performance or even cause collisions…
ACCESS Linnaeus Centre and the Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology（ACCESS林奈斯中心，电气工程学院自动控制系，瑞典皇家理工学院）；KTH Royal Institute of Technology（瑞典皇家理工学院）；Scania CV AB（斯堪尼亚商用车公司）
