Motif-Based Design for Connected Vehicle Systems in Presence of Heterogeneous Connectivity Structures and Time Delays

In this paper, we investigate the effects of heterogeneous connectivity structures and information delays on the dynamics of connected vehicle systems (CVSs), which are composed of vehicles equipped with connected cruise control (CCC) as well as conventional vehicles. First, a general framework is p...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2016-06, Vol.17 (6), p.1638-1651
Main Authors: Linjun Zhang, Orosz, Gabor
Format: Article
Language:English
Subjects:
Asymptotic stability
connected cruise control
Connected vehicles
Connectivity
Delay
Delays
Design analysis
Design engineering
Dynamical systems
Dynamics
Networks
Stability
Stability analysis
time delay
Vehicle dynamics
Vehicles
Vehicular ad hoc networks
Wireless vehicle-to-vehicle (V2V) communication
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Summary:In this paper, we investigate the effects of heterogeneous connectivity structures and information delays on the dynamics of connected vehicle systems (CVSs), which are composed of vehicles equipped with connected cruise control (CCC) as well as conventional vehicles. First, a general framework is presented for CCC design that incorporates information delays and allows a large variety of connectivity structures. Then, we present delay-dependent criteria for plant stability and head-to-tail string stability of CVSs. The stability conditions are visualized by using stability diagrams, which allow one to evaluate the robustness of vehicle networks against information delays. To achieve modular and scalable design of large networks, we also propose a motif-based approach. Our results demonstrate the advantages of CCC vehicles in improving traffic efficiency, but also show that increasing the penetration of CCC vehicles does not necessarily improve the robustness if the connectivity structure or the control gains are not appropriately designed.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2015.2509782