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Article Dans Une Revue IEEE Transactions on Intelligent Vehicles Année : 2023

Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design

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This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that self-organization promotes resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these causes of impairments. In the presence of acceleration limits, resilience is achieved by self-organizing to a common constrained group behavior that prevents the vehicles from hitting their acceleration limits. In the presence of communication failures, resilience is achieved by self-organizing to a common group observer to estimate the missing information. Stability of the self-organization mechanism is studied analytically, and correctness with respect to traffic actions (e.g. emergency braking, cut-in, merging) is realized through a provably-correct safety layer. Numerical validations via the platooning toolbox OpenCDA in CARLA and via the CommonRoad platform confirm improved performance through self-organization and the provably-correct safety layer.
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hal-04393793 , version 1 (15-01-2024)

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Di Liu, Sebastian Mair, Kang Yang, Simone Baldi, Paolo Frasca, et al.. Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design. IEEE Transactions on Intelligent Vehicles, 2023, pp.1-14. ⟨10.1109/TIV.2023.3317977⟩. ⟨hal-04393793⟩
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