Villamil A, Gonzalez A, Franchi N, Fettweis G (2020)
Publication Type: Conference contribution
Publication year: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2020-November
Conference Proceedings Title: IEEE Vehicular Technology Conference
In  the upper-bound on the communications interval required to achieve string stability for a Cooperative Autonomous Cruise Control (CACC) system, i.e. the Maximum Allowable Transmission Interval (MATI), was found for the one-vehicle look ahead topology (vehicles communicating only with their immediate predecessors). Obtaining the MATI permitted to exploit the CACC dynamics as degrees of freedom for radio resource allocation while guaranteeing the proper functioning of CACC . By transmitting only at the necessary update rate dictated by the system dynamics, the demands on the communication network are relaxed compared to an agnostic static allocation. This paper considers additional information from N preceding vehicles for further relaxation of the communications requirements. The hypothesis is that by over-hearing transmissions of additional predecessors, the update rate between vehicles can be reduced while maintaining string stability. Since overhearing state information of additional previous predecessors requires to process their information coherently, the design of N feedforward filters is necessary when considering N previous vehicles. In this work, we propose a methodology to design the feedforward filters that optimizes the MATI within the platoon based on a frequency domain analysis by posing an optimization problem. We show that transmission intervals on the wireless links can be relaxed up to 8x when a two-vehicle look ahead (2VLA) network topology is considered and up to 9x for a three-vehicle look ahead (3VLA) topology.
Villamil, A., Gonzalez, A., Franchi, N., & Fettweis, G. (2020). Feedforward Filter Design for CACC with N - Vehicle Look Ahead: A Frequency Domain Approach for Further Optimization of Radio Resource Usage. In IEEE Vehicular Technology Conference. Institute of Electrical and Electronics Engineers Inc..
Villamil, Andres, et al. "Feedforward Filter Design for CACC with N - Vehicle Look Ahead: A Frequency Domain Approach for Further Optimization of Radio Resource Usage." Proceedings of the 92nd IEEE Vehicular Technology Conference, VTC 2020-Fall Institute of Electrical and Electronics Engineers Inc., 2020.