Risk of Collision and Detachment in Vehicle Platooning: Time-Delay–Induced Limitations and Tradeoffs
| Autor: | Yaser Ghaedsharaf, Nader Motee, Christoforos Somarakis |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Risk analysis
0209 industrial biotechnology Mathematical optimization Computer science Trade offs 02 engineering and technology Collision Computer Science Applications Noise 020901 industrial engineering & automation Control and Systems Engineering In vehicle Platoon Electrical and Electronic Engineering Laplace operator |
| Zdroj: | IEEE Transactions on Automatic Control. 65:3544-3559 |
| ISSN: | 2334-3303 0018-9286 |
| DOI: | 10.1109/tac.2019.2950073 |
| Popis: | We quantify the value-at-risk of inter-vehicle collision and detachment for a class of platoons, which are governed by second-order dynamics in presence of communication time-delay and exogenous stochastic noise. Closed-form expressions for the risk measures are obtained as functions of Laplacian eigen-spectrum as well as their fine explicit approximations using rational polynomial functions. We quantify several hard limits and fundamental tradeoffs among the risk measures, network connectivity, communication time-delay, and statistics of exogenous stochastic noise. Simultaneous presence of stochastic noise and time delay in a platoon imposes some idiosyncratic limitations on the behavior of collision and detachment risks, for instance, weakening (improving) network connectivity may result in lower (higher) levels of risk. Furthermore, a thorough risk analysis and comparison have been conducted for networks with specific graph topology. We support our theoretical findings via extensive simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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