Autonomous Controller-Aware Scheduling of Intra-Platoon V2V Communications

Abstract

In this paper, we investigate the problem of reducing the use of radio resources for vehicle-to-vehicle communications in an autonomous platooning scenario. Achieving reliable communications, which is a key element allowing for the tight coordination of platoon vehicles’ motion, might be challenging in a case of heavy road traffic. Thus, in this paper, we propose to reduce the number of intra-platoon transmissions required to facilitate the safe autonomous control of vehicle mobility, by analyzing the impact of cars’ behaviors (in terms of acceleration changes) on the evolution of the inter-vehicle distance errors within the platoon. We derive formulas representing the relation between the platoon leader’s acceleration changes and the evolution of the distance error, velocity difference, and the accelerations for the first pair of vehicles. Furthermore, we propose a heuristic algorithm for selection of the intra-platoon messaging period for each platoon vehicle that minimizes the use of radio resources subject to the safety constraint, represented as the fraction of the total time when emergency braking is activated. The presented simulation results indicate that the proposed approach is capable of ensuring safe platoon operation and simultaneously providing a significant reduction in the use of resources, compared with conventional fixed-period transmission.

Keywords

• platooning
• autonomous vehicles
• CACC
• scheduling