Stochastic Lp string stability analysis in predecessor-following platoons under packet losses

TL;DR

This paper model the overall platoon as a stochastic hybrid system and analyse its string stability via a small-gain approach, and illustrates how the different elements of the platoon have an impact on string stability, such as platoon topology and vehicle scheduling.

Abstract

In this paper, we study (homogeneous) predecessor-following platoons in which the vehicle-to-vehicle (V2V) communications are affected by random packet losses. We model the overall platoon as a stochastic hybrid system and analyse its string stability via a small-gain approach. For nonlinear platoons, we illustrate how the different elements of the platoon have an impact on string stability, such as platoon topology and vehicle scheduling. For linear time-invariant platoons, we provide an explicit string stability condition that illustrates the interplay between the channel success probability, transmission rate, and time headway constant. Lastly, we illustrate our results by numerical simulations.

Figures (8)

• Figure 1: Platoon configuration.
• Figure 2: Block diagram of the CACC scheme.
• Figure 3: Upper bounds $\overline{\gamma}_x$ and $\overline{K}_x$ as per Theorem \ref{['theo:SS-explicit']}$(i)$ for $h=5$.
• Figure 4: Region for $\mathcal{L}_2$ string stability in expectation as per Theorem \ref{['theo:SS-explicit']}, with an average transmission interval of $1/\bm{\lambda}=0.1[s]$.
• Figure 5: External platoon input $w(t)=(v_0(t),u_0(t))$.

Theorems & Definitions (11)

• Remark 1
• Definition 1
• Remark 2
• Example 1: Sampled-data (SD) protocol oncu2012string
• Example 2: Round-robin (RR) protocol nestee04
• Definition 2
• Theorem 1
• Remark 3
• Corollary 1
• Theorem 2