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Platooning With IVC-Enabled Autonomous Vehicles: Strategies to Mitigate Communication Delays, Improve Safety and Traffic Flow

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2 Author(s)
Fernandes, P. ; Dept. of Electr. & Comput. Eng., Univ. of Coimbra, Coimbra, Portugal ; Nunes, U.

Intraplatoon information management strategies for dealing with safe and stable operation are proposed in this paper. New algorithms to mitigate communication delays are presented, and Matlab/Simulink-based simulation results are reported. We argue that using anticipatory information from both the platoon's leader and the followers significantly impacts platoon string stability. The obtained simulation results suggest that the effects of communication delays may be almost completely canceled out. The platoon presents a very stable behavior, even when subjected to strong acceleration patterns. When the communication channel is subjected to a strong load, proper algorithms may be selected, lowering network load and maintaining string stability. Upon emergency occurrences, the platoon's timely response may be ensured by dynamically increasing the weight of the platoons' leaders data over the behavior of their followers. The simulation results suggest that the algorithms are robust under several demanding scenarios. To assess if current intervehicle communication technology can cope with the proposed information-updating schemes, research into its operation was conducted through a network simulator.

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Intelligent Transportation Systems, IEEE Transactions on  (Volume:13 ,  Issue: 1 )