Morales-Ponce Oscar, Schiller Elad M, Falcone Paolo
Department of Computer Engineering and Computer Science, California State University Long Beach, Long Beach, CA, 90840, USA.
Department of Computer Science and Engineering, Chalmers University of Technology, Göteborg, Sweden.
Sensors (Basel). 2018 Apr 22;18(4):1287. doi: 10.3390/s18041287.
We consider the design of a disagreement correction protocol in multi-vehicle systems. Vehicles broadcast in real-time vital information such as position, direction, speed, acceleration, intention, etc. This information is then used to identify the risks and adapt their trajectory to maintain the highest performance without compromising the safety. To minimize the risk due to the use of inconsistent information, all cooperating vehicles must agree whether to use the exchanged information to operate in a cooperative mode or use the only local information to operate in an autonomous mode. However, since wireless communications are prone to failures, it is impossible to deterministically reach an agreement. Therefore, any protocol will exhibit necessary disagreement periods. In this paper, we investigate whether vehicles can still cooperate despite communication failures even in the scenario where communication is suddenly not available. We present a deterministic protocol that allows all participants to either operate a cooperative mode when vehicles can exchange all the information in a timely manner or operate in autonomous mode when messages are lost. We show formally that the disagreement time is bounded by the time that the communication channel requires to deliver messages and validate our protocol using NS-3 simulations. We explain how the proposed solution can be used in vehicular platooning to attain high performance and still guarantee high safety standards despite communication failures.
我们考虑多车辆系统中不一致性校正协议的设计。车辆实时广播诸如位置、方向、速度、加速度、意图等重要信息。然后利用这些信息识别风险，并调整其轨迹以在不影响安全性的前提下保持最高性能。为了将因使用不一致信息而产生的风险降至最低，所有协作车辆必须就使用交换的信息以协作模式运行还是仅使用本地信息以自主模式运行达成一致。然而，由于无线通信容易出现故障，因此无法确定性地达成一致。因此，任何协议都会出现必要的不一致时间段。在本文中，我们研究即使在通信突然不可用的情况下，车辆在通信故障时是否仍能协作。我们提出了一种确定性协议，该协议允许所有参与者在车辆能够及时交换所有信息时以协作模式运行，或者在消息丢失时以自主模式运行。我们正式表明，不一致时间受通信信道传递消息所需时间的限制，并使用NS-3仿真验证了我们的协议。我们解释了所提出的解决方案如何用于车辆编队，以在通信故障的情况下仍能实现高性能并保证高安全标准。
