Fault tolerance of cooperative vehicle platoons subject to communication delay

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Uittreksel

Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication to allow for automatic vehicle following at small intervehicle distances while guaranteeing string stability. Inherent to the CACC concept, however, is its vulnerability to communication impairments, among which latency of the wireless link, which compromise string stability and, hence, safety. To investigate the sensitivity of the string stability property with respect to communication latency, two controllers are developed by means of H8 controller synthesis, employing a one-vehicle look-ahead and a two-vehicle look-ahead communication topology, respectively. The string stability properties of the controlled vehicle platoon are investigated, based on which it is proposed to switch from one-to two-vehicle look-ahead when the latency exceeds a certain threshold, thereby creating robustness against increasing communication delay by retaining string stability at the lowest possible time gap.
Originele taal-2Engels
Pagina's (van-tot)352-357
TijdschriftIFAC-PapersOnLine
Volume48
Nummer van het tijdschrift12
DOI's
StatusGepubliceerd - 2015
Evenement12th IFAC Workshop on Time Delay Systems (TDS 2015), June 28-30, 2015, Ann Arbor, MI, USA - University of Michigan, Ann Arbor, MI, Verenigde Staten van Amerika
Duur: 28 jun 201530 jun 2015
http://me.engin.umich.edu/dirifac/

Vingerafdruk

Fault tolerance
Communication
Adaptive cruise control
Controllers
Telecommunication links
Switches
Topology

Citeer dit

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title = "Fault tolerance of cooperative vehicle platoons subject to communication delay",
abstract = "Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication to allow for automatic vehicle following at small intervehicle distances while guaranteeing string stability. Inherent to the CACC concept, however, is its vulnerability to communication impairments, among which latency of the wireless link, which compromise string stability and, hence, safety. To investigate the sensitivity of the string stability property with respect to communication latency, two controllers are developed by means of H8 controller synthesis, employing a one-vehicle look-ahead and a two-vehicle look-ahead communication topology, respectively. The string stability properties of the controlled vehicle platoon are investigated, based on which it is proposed to switch from one-to two-vehicle look-ahead when the latency exceeds a certain threshold, thereby creating robustness against increasing communication delay by retaining string stability at the lowest possible time gap.",
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Fault tolerance of cooperative vehicle platoons subject to communication delay. / Ploeg, J.; van de Wouw, N.; Nijmeijer, H.

In: IFAC-PapersOnLine, Vol. 48, Nr. 12, 2015, blz. 352-357.

Onderzoeksoutput: Bijdrage aan tijdschriftCongresartikelAcademicpeer review

TY - JOUR

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N2 - Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication to allow for automatic vehicle following at small intervehicle distances while guaranteeing string stability. Inherent to the CACC concept, however, is its vulnerability to communication impairments, among which latency of the wireless link, which compromise string stability and, hence, safety. To investigate the sensitivity of the string stability property with respect to communication latency, two controllers are developed by means of H8 controller synthesis, employing a one-vehicle look-ahead and a two-vehicle look-ahead communication topology, respectively. The string stability properties of the controlled vehicle platoon are investigated, based on which it is proposed to switch from one-to two-vehicle look-ahead when the latency exceeds a certain threshold, thereby creating robustness against increasing communication delay by retaining string stability at the lowest possible time gap.

AB - Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication to allow for automatic vehicle following at small intervehicle distances while guaranteeing string stability. Inherent to the CACC concept, however, is its vulnerability to communication impairments, among which latency of the wireless link, which compromise string stability and, hence, safety. To investigate the sensitivity of the string stability property with respect to communication latency, two controllers are developed by means of H8 controller synthesis, employing a one-vehicle look-ahead and a two-vehicle look-ahead communication topology, respectively. The string stability properties of the controlled vehicle platoon are investigated, based on which it is proposed to switch from one-to two-vehicle look-ahead when the latency exceeds a certain threshold, thereby creating robustness against increasing communication delay by retaining string stability at the lowest possible time gap.

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