Projeto Integrado de Controle de Pelotões baseado em Consenso e um Protocolo de Disseminação de Dados Confiável
Resumo
A condução automatizada e coordenada de pelotões envolve teorias de controle, dinâmica dos veículos e comunicação veicular. Devido a uma constante interação entre a lógica de controle e a topologia de comunicação, uma abordagem de co-projeto para o controlador e o protocolo de comunicação torna-se necessária. Este artigo apresenta a AddP-CACC - uma solução para pelotões de veículos baseada no consenso, na qual a topologia é um parâmetro do projeto que pode ser explorado para reconfigurar o controlador, dependendo das características do cenário. A solução foi comparada a outras técnicas da literatura e os resultados obtidos comprovam sua robustez e capacidade em manter um pelotão veicular estável em diferentes topologias de comunicação.
Palavras-chave:
Pelotões veiculares, Estabilidade em cadeia, Disseminação confiável de dados, VANETS
Referências
Chitra, M. and Sathya, S. S. (2016). Bidirectional data dissemination in vehicular ad hoc networks using epidemic spreading model. In Proc. of the International Conference on Informatics and Analytics, ICIA-16, pages 57:1–57:8, New York, NY, USA. ACM.
di Bernardo, M., Falcone, P., Salvi, A., and Santini, S. (2016). Design, analysis, and experimental validation of a distributed protocol for platooning in the presence of time-varying heterogeneous delays. IEEE Trans. on Contr. Systems Tech., 24(2):413–427.
Elefteriadou, L. (2013). An Introduction to Traffic Flow Theory. Springer Optimization and Its Applications. Springer New York.
Hicks, D. J. (2018). The safety of autonomous vehicles: Lessons from philosophy of science. IEEE Technology and Society Magazine, 37(1):62–69.
Kheirandish, F., Ekramian, M., and Ataei, M. (2017). Stability analysis of networked control systems with time varying delays. In 2017 Iranian Conference on Electrical Engineering (ICEE), pages 633–638.
Lyamin, N., Vinel, A., Jonsson, M., and Bellalta, B. (2018). Cooperative awareness in VANETs: On ETSI EN 302 637-2 performance. IEEE Trans. on Vehicular Tech., 67(1):17–28.
Nunen, E., Reinders, J., Semsar-Kazerooni, E., and van de Wouw, N. (2019). String stable model predictive cooperative adaptive cruise control for heterogeneous platoons. IEEE Transactions on Intelligent Vehicles, 4(2):186–196.
Oliveira, R., Montez, C., Boukerche, A., and Wangham, M. S. (2017). Reliable data dissemination protocol for vanet traffic safety applications. Ad Hoc Networks, 63:30 – 44.
Rajamani, R. (2011). Vehicle Dynamics and Control. Mechanical Engineering Series. Springer US.
Rajamani, R., Han-Shue Tan, Boon Kait Law, and Wei-Bin Zhang (2000). Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons. IEEE Trans. on Cont. Systems Technology, 8(4):695–708.
Santini, S., Salvi, A., Valente, A. S., Pescapè, A., Segata, M., and Cigno, R. L. (2015). A consensus-based approach for platooning with inter-vehicular communications. In 2015 IEEE Conf. on Computer Communications (INFOCOM), pages 1158–1166.
Santini, S., Salvi, A., Valente, A. S., Pescapè, A., Segata, M., and Cigno, R. L. (2017). A consensus-based approach for platooning with intervehicular communications and its validation in realistic scenarios. IEEE Trans. on Vehicular Tech., 66(3):1985–1999.
Schwartz, R. S., Das, K., Scholten, H., and Havinga, P. (2012). Exploiting beacons for scalable broadcast data dissemination in vanets. In Proceedings of the Ninth ACM International Workshop on Vehicular Inter-networking, Systems, and Applications, VANET ’12, pages 53–62, New York, NY, USA. ACM.
Wang, L. Y., Syed, A., Yin, G. G., Pandya, A., and Zhang, H. (2014). Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics. Journal of Systems Science and Complexity, 27(4):605–631.
Zhang, L. and Orosz, G. (2016). Motif-based design for connected vehicle systems in presence of heterogeneous connectivity structures and time delays. IEEE Transactions on Intelligent Transportation Systems, 17(6):1638–1651.
Zheng, Y., Li, S. E., Wang, J., Cao, D., and Li, K. (2016). Stability and scalability of homogeneous vehicular platoon: Study on the influence of information flow topologies. IEEE Transactions on Intelligent Transportation Systems, 17(1):14–26.
Öncü, S., Ploeg, J., van de Wouw, N., and Nijmeijer, H. (2014). Cooperative adaptive cruise control: Network-aware analysis of string stability. IEEE Transactions on Intelligent Transportation Systems, 15(4):1527–1537.
di Bernardo, M., Falcone, P., Salvi, A., and Santini, S. (2016). Design, analysis, and experimental validation of a distributed protocol for platooning in the presence of time-varying heterogeneous delays. IEEE Trans. on Contr. Systems Tech., 24(2):413–427.
Elefteriadou, L. (2013). An Introduction to Traffic Flow Theory. Springer Optimization and Its Applications. Springer New York.
Hicks, D. J. (2018). The safety of autonomous vehicles: Lessons from philosophy of science. IEEE Technology and Society Magazine, 37(1):62–69.
Kheirandish, F., Ekramian, M., and Ataei, M. (2017). Stability analysis of networked control systems with time varying delays. In 2017 Iranian Conference on Electrical Engineering (ICEE), pages 633–638.
Lyamin, N., Vinel, A., Jonsson, M., and Bellalta, B. (2018). Cooperative awareness in VANETs: On ETSI EN 302 637-2 performance. IEEE Trans. on Vehicular Tech., 67(1):17–28.
Nunen, E., Reinders, J., Semsar-Kazerooni, E., and van de Wouw, N. (2019). String stable model predictive cooperative adaptive cruise control for heterogeneous platoons. IEEE Transactions on Intelligent Vehicles, 4(2):186–196.
Oliveira, R., Montez, C., Boukerche, A., and Wangham, M. S. (2017). Reliable data dissemination protocol for vanet traffic safety applications. Ad Hoc Networks, 63:30 – 44.
Rajamani, R. (2011). Vehicle Dynamics and Control. Mechanical Engineering Series. Springer US.
Rajamani, R., Han-Shue Tan, Boon Kait Law, and Wei-Bin Zhang (2000). Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons. IEEE Trans. on Cont. Systems Technology, 8(4):695–708.
Santini, S., Salvi, A., Valente, A. S., Pescapè, A., Segata, M., and Cigno, R. L. (2015). A consensus-based approach for platooning with inter-vehicular communications. In 2015 IEEE Conf. on Computer Communications (INFOCOM), pages 1158–1166.
Santini, S., Salvi, A., Valente, A. S., Pescapè, A., Segata, M., and Cigno, R. L. (2017). A consensus-based approach for platooning with intervehicular communications and its validation in realistic scenarios. IEEE Trans. on Vehicular Tech., 66(3):1985–1999.
Schwartz, R. S., Das, K., Scholten, H., and Havinga, P. (2012). Exploiting beacons for scalable broadcast data dissemination in vanets. In Proceedings of the Ninth ACM International Workshop on Vehicular Inter-networking, Systems, and Applications, VANET ’12, pages 53–62, New York, NY, USA. ACM.
Wang, L. Y., Syed, A., Yin, G. G., Pandya, A., and Zhang, H. (2014). Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics. Journal of Systems Science and Complexity, 27(4):605–631.
Zhang, L. and Orosz, G. (2016). Motif-based design for connected vehicle systems in presence of heterogeneous connectivity structures and time delays. IEEE Transactions on Intelligent Transportation Systems, 17(6):1638–1651.
Zheng, Y., Li, S. E., Wang, J., Cao, D., and Li, K. (2016). Stability and scalability of homogeneous vehicular platoon: Study on the influence of information flow topologies. IEEE Transactions on Intelligent Transportation Systems, 17(1):14–26.
Öncü, S., Ploeg, J., van de Wouw, N., and Nijmeijer, H. (2014). Cooperative adaptive cruise control: Network-aware analysis of string stability. IEEE Transactions on Intelligent Transportation Systems, 15(4):1527–1537.
Publicado
07/12/2020
Como Citar
OLIVEIRA, Renê da Rosa; MONTEZ, Carlos Barros; WANGHAM, Michelle Silva.
Projeto Integrado de Controle de Pelotões baseado em Consenso e um Protocolo de Disseminação de Dados Confiável. In: SIMPÓSIO BRASILEIRO DE REDES DE COMPUTADORES E SISTEMAS DISTRIBUÍDOS (SBRC), 38. , 2020, Rio de Janeiro.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2020
.
p. 463-476.
ISSN 2177-9384.
DOI: https://doi.org/10.5753/sbrc.2020.12302.
