PMCD: Platoon -Merging approach for Cooperative Driving (original) (raw)
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Performance study of CAM over IEEE 802.11p for cooperative adaptive cruise control
2017 Wireless Days, 2017
The IEEE 802.11p is the de-facto vehicular radio communication technology for road safety and efficiency applications. With the advancements in the autonomous vehicle technology, studies on applicability of the IEEE 802.11p and the related protocols for the autonomous driving applications are needed. In this paper, we study the impacts of vehicular communication on platooning control considering that the ETSIstandardised message set Cooperative Awareness Message (CAM) and the IEEE 802.11p are used for both the platooning and cooperative awareness applications. We first develop a theoretical model for the probability of a successful CAM transmission over IEEE 802.11p between platoon members by taking account of the existence of non-platoon vehicles on the road. The model is verified by comparing against simulation results obtained from the NS3 simulator. Finally, we investigate the impacts of the communication performance on the behaviour of platoons, specially the chain stability, when hundreds of vehicles share the wireless channel. The theoretical model reveals that thanks to the capture effect, communications between platoon members drastically outperform communications between arbitrary two vehicles on the road. The simulation results show that in contrast to an adaptive cruise control (ACC), which does not use vehicular communication, the IEEE 802.11p based vehicle to vehicle (V2V) communication aids for realizing stable platoons in highway scenarios.
Analysis of Traffic Performance of a Merging Assistant Strategy Using Cooperative Vehicles
IEEE Transactions on Intelligent Transportation Systems, 2015
Emerging in-car communication technologies continually offer new communication capabilities between vehicles and infrastructure that, together with more accurate positioning systems, can be used to improve the use of current infrastructure. The aim of this paper is to present a novel merging assistant strategy that exploits cooperative systems to reduce congestion at motorway junctions. This new system, called Cooperative Merging Assistant, groups main carriageway vehicles together and collects the inter-vehicle spaces into gaps that are usable by merging traffic. These gaps will facilitate the coordinated entry of platoons of vehicles released by an on-ramp traffic signal. The performance of this new system is evaluated using microscopic simulation. Results show the reduction of late-merging vehicles, decrease in congestion and increase of merging capacity. This study shows how the use of cooperative systems can improve the the merging maneuver and so lead to a reduction of congestion on motorways.
Impact of cooperative adaptive cruise control on multilane freeway merge capacity
Journal of Intelligent Transportation Systems, 2018
Cooperative Adaptive Cruise Control (CACC) allows vehicles to exchange real-time operational information wirelessly, enabling vehicles to travel in strings with shorter than normal time gaps between adjacent vehicles and ultimately increasing the freeway capacity. This study is intended to investigate the impact of CACC vehicle string operation on the capacity of multilane freeway merge bottlenecks, commonly found at on-ramp merging areas on urban freeways. Simulation experiments were conducted using CACC car-following models derived from field test data, together with lane-changing models of CACC vehicles and manually driven vehicles, as well as a maximum CACC string length and inter-string time gap constraint. Simulation results reveal that the freeway capacity increases quadratically as the CACC market penetration increases, with a maximum value of 3080 veh/hr/lane at 100% market penetration. The disturbance from the on-ramp traffic causes the merge bottleneck and can reduce the freeway capacity by up to 13% but the bottleneck capacity still increases in a quadratic pattern as CACC market penetration becomes larger. The findings suggest that there is a need to implement advanced merging assistance systems with CACC at merge bottlenecks for achieving the capacity improvement comparable with the observations at homogeneous freeway segments.
Impact of Cooperative Adaptive Cruise Control (CACC) on Multilane Freeway Merge Capacity
Transportation Research Board 97th Annual MeetingTransportation Research Board, 2018
Cooperative Adaptive Cruise Control (CACC) allows vehicles to exchange real-time operational information wirelessly, enabling vehicles to travel in strings with shorter than normal time gaps between adjacent vehicles and ultimately increasing the freeway capacity. This study is intended to investigate the impact of CACC vehicle string operation on the capacity of multilane freeway merge bottlenecks, commonly found at on-ramp merging areas on urban freeways. Simulation experiments were conducted using CACC car-following models derived from field test data, together with lane-changing models of CACC vehicles and manually driven vehicles, as well as a maximum CACC string length and inter-string time gap constraint. Simulation results reveal that the freeway capacity increases quadratically as the CACC market penetration increases, with a maximum value of 3080 veh/hr/lane at 100% market penetration. The disturbance from the on-ramp traffic causes the merge bottleneck and can reduce the freeway capacity by up to 13% but the bottleneck capacity still increases in a quadratic pattern as CACC market penetration becomes larger. The findings suggest that there is a need to implement advanced merging assistance systems with CACC at merge bottlenecks for achieving the capacity improvement comparable with the observations at homogeneous freeway segments.
A consensus-based approach for platooning with inter-vehicular communications
2015 IEEE Conference on Computer Communications (INFOCOM), 2015
Automated and coordinated vehicles' driving (platooning) is gaining more and more attention today and it represents a challenging scenario heavily relying on wireless Inter-Vehicular Communication (IVC). In this paper, we propose a novel controller for vehicle platooning based on consensus. Opposed to current approaches where the logical control topology is fixed a priori and the control law designed consequently, we design a system whose control topology can be reconfigured depending on the actual network status. Moreover, the controller does not require the vehicles to be radar equipped and automatically compensates outdated information caused by network delays. We define the control law and analyze it in both analytical and simulative way, showing its robustness in different network scenarios. We consider three different wireless network settings: uncorrelated Bernoullian losses, correlated losses using a Gilbert-Elliott channel, and a realistic traffic scenario with interferences caused by other vehicles. Finally, we compare our strategy with another state of the art controller. The results show the ability of the proposed approach to maintain a stable string of vehicles even in the presence of strong interference, delays, and fading conditions, providing higher comfort and safety for platoon drivers. 1
Merging into strings of cooperative-adaptive cruise-control vehicles
Journal of Intelligent Transportation Systems, 2020
Cooperative-adaptive cruise-control (CACC) offers the potential to increase roadway capacity by decreasing the size of gaps between vehicles. However, smaller gaps may reduce drivers' ability to safely enter CACC strings. Two driving simulator experiments explored merging in CACC strings (also known as CACC platoons). In Experiment 1, drivers attempted to merge into a continuous stream of simulated CACC vehicles using either a CACC vehicle with merge assist, a CACC vehicle without merge assist, or a manually driven vehicle. All merges made using merge assist were successful. In contrast, one-third of CACC drivers without merge assist and half of manual drivers were involved in a collision during their first merge attempt. The crash rate appeared to be largely due to participants' expectation that CACC vehicles would create a larger gap to accommodate their merging vehicle. Experiment 2 explored the validity of this expectation. Participants encountered two merge events while traveling in a CACC string: a successful merge that occurred immediately in front of their vehicle and an unsuccessful merge attempt that resulted in a crash in their travel lane. Responses to merging vehicles were influenced by the gap size their vehicle maintained, but not by their preferred following distance. The vast majority of participants traveling in a CACC string did not create larger gaps during the typical merge, and instead only took over longitudinal control when in immediate danger of a collision. The finding suggests that features, such as merge assist, could help ensure the safety of vehicles entering CACC strings.
Cooperative Platooning in Connected Vehicles
2019
The future promises an Intelligent Transportation System where it is predicted that all vehicles will be connected by 2030. In the transformation of the today’s system to an autonomous environment, the autonomous and connected vehicles will have to cooperate and co-exist. Cooperative Intelligent transportation can reduce traffic congestion, fuel consumption and ease the task of driving. In this regard a platooning concept where a flock of vehicles are set to follow a leader vehicle, adopting its vehicle dynamics is one of the most researched area. The need for proper understanding of the different scenarios that can occur in the real world is a crucial part of the research as these directly affects the safety of all those on the roads. A prototype test bed, due to low cost and scalability proved to be more efficient in evaluating these scenarios and is hence used for this work.
Journal of Intelligent Transportation Systems, 2014
Since the introduction of the Vehicle Infrastructure Integration (VII) and Connected Vehicle (CV) initiatives, numerous in-vehicle technologies based on wireless communications are currently being deployed. One of these technologies is Cooperative Adaptive Cruise Control (CACC) systems that provide better connectivity, safety and mobility by allowing vehicles to travel in denser platoons through vehicle-to-vehicle (V2V) communication. Accordingly, the research presented in this paper develops a simulation/optimization tool that optimizes the movement of CACC-equipped vehicles as a replacement for traditional intersection control. This system, which is entitled iCACC, assumes that the intersection controller receives vehicle requests to travel through an intersection and advices each vehicle on the optimum course of action ensuring no crashes occur while at the same time minimizing the intersection delay. Four intersection control scenarios are compared, namely: a traffic signal, an all-way stop control (AWSC), a roundabout, and the iCACC controller. The results show that the proposed iCACC system significantly reduces the average intersection delay and fuel consumption level by 90 and 45 percent, respectively. Additionally, the paper investigates the impact of vehicle dynamics, weather conditions and level of market penetration of equipped vehicles on the future of automated vehicle control.
IEEE Transactions on Intelligent Transportation Systems, 2000
In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves.
A Microscopic Platoon Stability Model Using Vehicle-to-Vehicle Communication
Electronics
With Vehicle-to-Vehicle (V2V) communication capability, vehicle platoon on the highway helps to reduce traffic congestion. However, the dynamic nature of vehicles imposes challenges on the V2V-based platoon management. In this paper, by considering the characteristics of a Vehicular Ad-hoc Network (VANET), a microscopic platoon management scheme is proposed to deal with three basic dynamic platoon maneuvers, namely merging, splitting, and speed-change. The congestion detection feature of VANET is used as a scale for platoon merging, splitting, and speed selection. Real-time congestion is detected if the number of vehicles in a given road segment exceeds the occupancy rate or the time headway is less than the thresholds. In the proposed platoon management scheme, platoon maintenance is triggered in congestion detection. Finally, a VANET-based platoon platform is built by using Network Simulator Version 2 (NS2) network simulation to assess the performance over some real road traces ge...