TY - JOUR
T1 - Resilience in Platoons of Cooperative Heterogeneous Vehicles
T2 - Self-Organization Strategies and Provably-Correct Design
AU - Liu, Di
AU - Mair, Sebastian
AU - Yang, Kang
AU - Baldi, Simone
AU - Frasca, Paolo
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - 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.
AB - 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.
KW - Cooperative adaptive cruise control
KW - group dynamics
KW - platooning
KW - provably-correct design
KW - self-organization
UR - http://www.scopus.com/inward/record.url?scp=85173036983&partnerID=8YFLogxK
U2 - 10.1109/TIV.2023.3317977
DO - 10.1109/TIV.2023.3317977
M3 - Article
AN - SCOPUS:85173036983
SN - 2379-8858
VL - 9
SP - 2262
EP - 2275
JO - IEEE Transactions on Intelligent Vehicles
JF - IEEE Transactions on Intelligent Vehicles
IS - 1
ER -