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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

TL;DR

Improved performance through self-organization and the provably-correct safety layer is confirmed and stability and string stability of the self-organization mechanism are studied analytically, and correctness with respect to traffic actions is realized through a provably-correct safety layer.

Abstract

This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that self-organization promotes resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these causes of impairments. In the presence of acceleration limits, resilience is achieved by self-organizing to a common constrained group behavior that prevents the vehicles from hitting their 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 of the self-organization mechanism is 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.

Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design

TL;DR

Improved performance through self-organization and the provably-correct safety layer is confirmed and stability and string stability of the self-organization mechanism are studied analytically, and correctness with respect to traffic actions is realized through a provably-correct safety layer.

Abstract

This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that self-organization promotes resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these causes of impairments. In the presence of acceleration limits, resilience is achieved by self-organizing to a common constrained group behavior that prevents the vehicles from hitting their 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 of the self-organization mechanism is 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.
Paper Structure (21 sections, 5 theorems, 38 equations, 12 figures, 3 tables, 2 algorithms)

This paper contains 21 sections, 5 theorems, 38 equations, 12 figures, 3 tables, 2 algorithms.

Table of Contents

  1. Introduction
  2. CACC system structure and solution concept
  3. Baseline input
  4. Auxiliary homogenizing input
  5. Provably-correct safety layer
  6. Problem formulation
  7. Converging to a group behavior
  8. Preliminaries on consensus dynamics
  9. Self-organizing design and stability analysis
  10. Self-organization for resilient design
  11. Resilient design to acceleration limits
  12. Resilient design to communication failures
  13. Dynamics of the homogenized preceding vehicle
  14. Auxiliary variables
  15. Observer for missing signal $u_{bl_{i-1}}$
  16. ...and 6 more sections

Key Result

Proposition 1

The auxiliary inputs $u_{hm_i}$ in LTI_platoon and $\xi_{hm_i}$ in conthomogenizing any vehicle $i$ to dynamics LTI_platoon_hom and cont_hom are

Figures (12)

  • Figure 1: CACC-equipped platoon: on-board sensing of spacing error and relative velocity are supplemented by the wireless communication of additional variables (e.g. acceleration).
  • Figure 2: Concept of the provably-correct architecture.
  • Figure 3: Acceleration limits, without resilient strategy.
  • Figure 4: Acceleration limits, proposed resilient strategy.
  • Figure 5: Communication failures, without resilient strategy.
  • ...and 7 more figures

Theorems & Definitions (11)

  • Proposition 1
  • proof
  • Remark 1: A-priori knowledge
  • Proposition 2: Average consensus frasca_book
  • Theorem 1
  • proof
  • Remark 2: Stability and string stability
  • Proposition 3: Max-min consensus CORTES2008726
  • Remark 3: No a-priori knowledge of the group model
  • Proposition 4: Unknown input observer KALSI2010347
  • ...and 1 more