Joint Communication and Control for Wireless Autonomous Vehicular Platoon Systems
Joint Communication and Control for Wireless Autonomous Vehicular Platoon Systems
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DOI：
10.1109/tcomm.2019.2931583
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发表时间：
2019-11-01
影响因子：
8.3
通讯作者：
Bennis, Mehdi
中科院分区：
文献类型：
--
作者：
Zeng, Tengchan;Semiari, Omid;Bennis, Mehdi
自动驾驶车队将在改善未来智慧城市的道路安全方面发挥重要作用。自动排中的车辆可以利用车对车（V2V）通信来收集环境信息，以保持目标速度和车距。然而，由于无线信道的不确定性，排内的V2V通信会出现无线系统延迟。这种系统延迟会损害车辆在其排内稳定其速度和距离的能力。本文研究了无线连接自主车队的集成通信和控制系统问题。特别是，提出了一种新颖的框架来优化排的操作，同时同时考虑无线 V2V 网络的延迟和车辆控制系统的稳定性。首先对控制系统进行稳定性分析，得出防止控制系统不稳定的最大无线系统时延要求。然后，进行延迟分析以确定端到端延迟，包括无线网络中V2V链路的排队、处理和传输延迟。随后，使用导出的无线延迟，导出无线系统可靠性的下限和近似表达式，定义为无线系统满足控制系统延迟需求的概率。然后，以最大化导出的无线系统可靠性的方式优化控制系统的参数。仿真结果证实了分析推导，并研究了数据包大小和队列大小等参数对车辆队列可靠性性能的影响。更重要的是，仿真结果揭示了集成控制系统和无线网络设计的好处，同时为设计自主排提供指导，以实现所需的无线网络可靠性和控制系统稳定性。
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect environmental information so as to maintain the target velocity and inter-vehicle distance. However, due to the uncertainty of the wireless channel, V2V communications within a platoon will experience a wireless system delay. Such system delay can impair the vehicles' ability to stabilize their velocity and distances within their platoon. In this paper, the problem of integrated communication and control system is studied for wireless connected autonomous vehicular platoons. In particular, a novel framework is proposed for optimizing a platoon's operation while jointly taking into account the delay of the wireless V2V network and the stability of the vehicle's control system. First, stability analysis for the control system is performed and the maximum wireless system delay requirements which can prevent the instability of the control system are derived. Then, delay analysis is conducted to determine the end-to-end delay, including queuing, processing, and transmission delay for the V2V link in the wireless network. Subsequently, using the derived wireless delay, a lower bound and an approximated expression of the reliability for the wireless system, defined as the probability that the wireless system meets the control system's delay needs, are derived. Then, the parameters of the control system are optimized in a way to maximize the derived wireless system reliability. Simulation results corroborate the analytical derivations and study the impact of parameters, such as the packet size and the platoon size, on the reliability performance of the vehicular platoon. More importantly, the simulation results shed light on the benefits of integrating control system and wireless network design while providing guidelines for designing an autonomous platoon so as to realize the required wireless network reliability and control system stability.