Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-Organization Strategies and Provably-Correct Design

Di Liu, Sebastian Mair, Kang Yang, Simone Baldi, Paolo Frasca, Matthias Althoff

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. Self-organization is the capability to autonomously homogenize to a common group behavior. We show that self-organization keeps resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these impairments. Adhering to acceleration limits is achieved by self-organizing to a common constrained group behavior that prevents reaching acceleration limits. In the presence of communication failures, resilience is achieved by self-organizing to a common group observer to estimate the missing information. Stability and string stability of the self-organization mechanism are studied analytically, and correctness with respect to traffic actions (e.g. emergency braking, cut-in, merging) is realized through a provably-correct safety layer. Numerical validations via the platooning toolbox OpenCDA in CARLA and via the CommonRoad platform confirm improved performance through self-organization and the provably-correct safety layer.

Original languageEnglish
Pages (from-to)2262-2275
Number of pages14
JournalIEEE Transactions on Intelligent Vehicles
Volume9
Issue number1
DOIs
StatePublished - 1 Jan 2024

Keywords

  • Cooperative adaptive cruise control
  • group dynamics
  • platooning
  • provably-correct design
  • self-organization

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