Jeong Sangsoo, Baek Youngmi, Son Sang H
Department of Information and Communication Engineering, DGIST, Daegu 42988, Korea.
Department of Computer Software Engineering, Changshin University, Changwon 51352, Korea.
Sensors (Basel). 2021 Apr 10;21(8):2684. doi: 10.3390/s21082684.
Vehicle platooning reduces the safety distance between vehicles and the travel time of vehicles so that it leads to an increase in road capacity and to saving fuel consumption. In Europe, many projects for vehicle platooning are being actively developed, but mostly focus on truck platooning on the highway with a simpler topology than that of the urban road. When an existing vehicle platoon is applied to urban roads, many challenges are more complicated to address than highways. They include complex topology, various routes, traffic signals, intersections, frequent lane change, and communication interference depending on a higher vehicle density. To address these challenges, we propose a distributed urban platooning protocol (DUPP) that enables high mobility and maximizes flexibility for driving vehicles to conduct urban platooning in a decentralized manner. DUPP has simple procedures to perform platooning maneuvers and does not require explicit conforming for the completion of platooning maneuvers. Since DUPP mainly operates on a service channel, it does not cause negative side effects on the exchange of basic safety messages on a control channel. Moreover, DUPP does not generate any data propagation delay due to contention-based channel access since it guarantees sequential data transmission opportunities for urban platooning vehicles. Finally, to address a problem of the broadcast storm while vehicles notify detected road events, DUPP performs forwarder selection using an analytic hierarchy process. The performance of the proposed DUPP is compared with that of ENSEMBLE which is the latest European platooning project in terms of the travel time of vehicles, the lifetime of an urban platoon, the success ratio of a designed maneuver, the external cost and the periodicity of the urban platooning-related transmissions, the adaptability of an urban platoon, and the forwarder selection ratio for each vehicle. The results of the performance evaluation demonstrate that the proposed DUPP is well suited to dynamic urban environments by maintaining a vehicle platoon as stable as possible after DUPP flexibly and quickly forms a vehicle platoon without the support of a centralized node.
车辆编队减少了车辆之间的安全距离和行驶时间，从而提高了道路通行能力并节省了燃油消耗。在欧洲，许多车辆编队项目正在积极开展，但大多集中在拓扑结构比城市道路简单的高速公路上的卡车编队。当现有的车辆编队应用于城市道路时，许多挑战比在高速公路上更复杂，难以解决。这些挑战包括复杂的拓扑结构、各种路线、交通信号、十字路口、频繁的车道变换以及由于车辆密度较高而产生的通信干扰。为应对这些挑战，我们提出了一种分布式城市编队协议（DUPP），该协议能够实现高机动性，并最大限度地提高行驶车辆以分散方式进行城市编队的灵活性。DUPP执行编队机动的程序简单，并且完成编队机动不需要明确的一致性。由于DUPP主要在服务信道上运行，因此不会对控制信道上的基本安全消息交换产生负面影响。此外，DUPP由于保证了城市编队车辆的顺序数据传输机会，因此不会因基于竞争的信道接入而产生任何数据传播延迟。最后，为了解决车辆通知检测到的道路事件时的广播风暴问题，DUPP使用层次分析法进行转发器选择。将所提出的DUPP的性能与ENSEMBLE（欧洲最新的编队项目）在车辆行驶时间、城市编队的寿命、设计机动的成功率、外部成本和城市编队相关传输的周期性、城市编队的适应性以及每辆车的转发器选择率等方面进行了比较。性能评估结果表明，所提出的DUPP通过在不依赖集中节点支持的情况下灵活快速地形成车辆编队，并尽可能稳定地维持车辆编队，非常适合动态城市环境。
