Wei Yu, He Xiaozheng
Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA.
Sensors (Basel). 2024 Mar 1;24(5):1614. doi: 10.3390/s24051614.
Advanced sensing technologies and communication capabilities of Connected and Autonomous Vehicles (CAVs) empower them to capture the dynamics of surrounding vehicles, including speeds and positions of those behind, enabling judicious responsive maneuvers. The acquired dynamics information of vehicles spurred the development of various cooperative platoon controls, particularly designed to enhance platoon stability with reduced spacing for reliable roadway capacity increase. These controls leverage abundant information transmitted through various communication topologies. Despite these advancements, the impact of different vehicle dynamics information on platoon safety remains underexplored, as current research predominantly focuses on stability analysis. This knowledge gap highlights the critical need for further investigation into how diverse vehicle dynamics information influences platoon safety. To address this gap, this research introduces a novel framework based on the concept of phase shift, aiming to scrutinize the tradeoffs between the safety and stability of CAV platoons formed upon bidirectional information flow topology. Our investigation focuses on platoon controls built upon bidirectional information flow topologies using diverse dynamics information of vehicles. Our research findings emphasize that the integration of various types of information into CAV platoon controls does not universally yield benefits. Specifically, incorporating spacing information can enhance both platoon safety and string stability. In contrast, velocity difference information can improve either safety or string stability, but not both simultaneously. These findings offer valuable insights into the formulation of CAV platoon control principles built upon diverse communication topologies. This research contributes a nuanced understanding of the intricate interplay between safety and stability in CAV platoons, emphasizing the importance of information dynamics in shaping effective control strategies.
联网自动驾驶汽车（CAV）的先进传感技术和通信能力使其能够捕捉周围车辆的动态信息，包括后方车辆的速度和位置，从而实现明智的响应式机动。获取的车辆动态信息推动了各种协同编队控制的发展，这些控制特别设计用于在减小间距的情况下提高编队稳定性，以可靠地增加道路通行能力。这些控制利用通过各种通信拓扑结构传输的丰富信息。尽管取得了这些进展，但不同车辆动态信息对编队安全的影响仍未得到充分探索，因为目前的研究主要集中在稳定性分析上。这一知识空白凸显了进一步研究不同车辆动态信息如何影响编队安全的迫切需求。为了填补这一空白，本研究引入了一个基于相移概念的新颖框架，旨在审视在双向信息流拓扑结构上形成的CAV编队的安全性和稳定性之间的权衡。我们的研究重点是基于双向信息流拓扑结构、使用车辆不同动态信息的编队控制。我们的研究结果强调，将各种类型的信息集成到CAV编队控制中并不一定会带来普遍的好处。具体而言，纳入间距信息可以提高编队安全性和队列稳定性。相比之下，速度差信息可以提高安全性或队列稳定性，但不能同时提高两者。这些发现为基于不同通信拓扑结构制定CAV编队控制原则提供了有价值的见解。本研究有助于对CAV编队中安全性和稳定性之间复杂相互作用有更细致入微的理解，强调信息动态在塑造有效控制策略中的重要性。
