Maintenance in Vehicle Dynamics For Distributed Vehicle Platoon - - PowerPoint PPT Presentation

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Maintenance in Vehicle Dynamics For Distributed Vehicle Platoon - - PowerPoint PPT Presentation

Oct 02, 2022 129 likes •319 views

Quick and Autonomous Platoon Maintenance in Vehicle Dynamics For Distributed Vehicle Platoon Networks Ankur Sarker , Chenxi Qiu , and Haiying Shen Department of Computer Science, University of Virginia Information Science &

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Quick and Autonomous Platoon Maintenance in Vehicle Dynamics For Distributed Vehicle Platoon Networks

Ankur Sarker†, Chenxi Qiu ‡, and Haiying Shen†

†Department of Computer Science, University of Virginia ‡Information Science & Technology, Pennsylvania State

University

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  • Introduction
  • System Design
  • Performance Evaluation
  • Conclusion

Outline

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Introduction

Platoon system

In a platoon, one leader vehicle and several follower vehicles drive in a single lane, maintaining a safety inter-vehicle distance

. . .

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Introduction

Solution: Distributed CACC system

  • 1. Vehicles have short range communication devices
  • 2. Guarantee vehicles’ safety
  • 3. Increase the number of vehicles
  • 4. Dynamic formation of platoon
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Introduction

Solution: Distributed CACC system

  • 1. Vehicles have short range communication devices
  • 2. Guarantee vehicles’ safety
  • 3. Increase the number of vehicles
  • 4. Dynamic formation of platoon
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Introduction

Solution: Distributed CACC system

  • 1. Vehicles have short range communication devices
  • 2. Guarantee vehicles’ safety
  • 3. Increase the number of vehicles
  • 4. Dynamic formation of platoon

… … …

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Introduction

Solution: Distributed CACC system

  • 1. Vehicles have short range communication devices
  • 2. Guarantee vehicles’ safety
  • 3. Increase the number of vehicles
  • 4. Dynamic formation of platoon
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Introduction

Challenge of distributed platoon system

 Platoon maintenance in dynamic environment  Without any communication  without any accurate distance information

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Introduction

Challenge of distributed platoon system

 Platoon maintenance in dynamic environment  Without any communication  without any accurate distance information

Our method: Autonomous platoon maintenance

  • 1. Study velocity profiles

 Analyze velocity profiles for different scenarios

  • 2. Stored velocity profiles

 Based on different inter-mediate distances and velocities, stored different profiles

  • 3. Adaptive platoon maintence

 Use mainly two set of profiles for creating or recovering holes inside platoon

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System Design

Velocity profiling

Study velocity profiles for two cases:  Vehicle leaving: Following vehicles must accelerate gradually maintaining safety and comfort.

Vehicle leaving

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System Design

Velocity profiling

Study velocity profiles for two cases:  Vehicle leaving: Following vehicles must accelerate gradually maintaining safety and comfort.  Vehicle entering: Following vehicles must deaccelerate gradually maintaining safety and comfort.

Vehicle leaving Vehicle entering

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System Design

Velocity profiling

Then, study velocity profiles wrt distances and velocities:  Initial velocity changes are similar due to deceleration/acceleration limits.  Thus, store mainly two different velocity profiles considering different scenarios.

Vehicle leaving

Changes of velocity wrt different distances

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System Design

Overview

VACP: Vehicle ACcelerating Profile VADP: Vehicle ADjusting Profile v: velocity t: time

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Experiment

Simulation settings

  • 1. One leader vehicle and thirty follower vehicles

 Velocities are changed from 8m/s to 30m/s  The vehicular inter-mediate distance varies from 47.5m to 80m  Velocities are changed at every 0.1 second (if necessary)

2. 3 scenarios-  Platoon maintenance  Vehicle joining  Vehicle leaving

Compared methods

1. Kyongsu Yi and Young Do Kwon. 2001. Vehicle-to-vehicle distance and speed control using an electronic-vacuum booster. JSAE review 22, 4 (2001), 403–412

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Experiment

Platoon maintenance Metric: Safety violation (inter- vehicular distance< safety distance) Observation: Safety violations

  • f two methods are almost

similar Reason: The stored velocity profiles are very similar to the

  • ptimal velocity profile

Safety violations

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Experiment

Platoon maintenance Metric: Recovering hole (distance information is unavailable) Observation: Optimal method causes more unrecovered holes Reason: Optimal method needs neighbor vehicles’ information Recovering hole

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Conclusions

  • 1. We proposed a decentralized platoon maintenance

mechanism

  • 2. We conducted velocity profiling study
  • 3. We devised autonomous vehicular control strategy

Future work

  • 1. Consider complex road structures
  • 2. More practical experiments in different traffic

conditions

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Thank you! Questions & Comments?

Ankur Sarker as4mz@Virginia.edu Ph.D. Candidate Pervasive Communication Laboratory University of Virginia