Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology with a constant time headway policy. We assume that each agent in the platoon sends its current position to the immediate...

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Bibliographic Details
Published in:IEEE access 2021, Vol.9, p.103996-104010
Main Authors: Gordon, Marco A., Vargas, Francisco J., Peters, Andres A.
Format: Article
Language:English
Subjects:
constant time-headway
Data integrity
Data loss
Error analysis
Feedback control
Headways
Loss measurement
lossy channels
Measurement uncertainty
Multiagent systems
networked systems
Numerical stability
Platooning
Scalability
Stability criteria
Stochastic processes
string stability
Strings
Topology
Vehicular platoon control
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Summary:This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology with a constant time headway policy. We assume that each agent in the platoon sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To reduce the negative effects of data loss over the string stability and performance of the platoon, we use simple strategies that modify the measurement, error, and control signals of the feedback control loop, in each vehicle, when a dropout occurs. Such strategies are based on holding the previous value, dropping to zero, or replacing with a prediction based on a simple linear extrapolation. We performed a simulation-based comparison among a set of different strategies, and found that some strategies are favorable in terms of performance, while some others present improvements for string stabilization. These results strongly suggest that proper design of compensation schemes for the communications of interconnected multi-agent systems plays an important role in their performance and their scalability properties.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3099404