Information-Decay-Aware Adaptive Sensor Weighting Control for Safe High-Density Platooning

Start Page
9
End Page
16
Citation
IEEE Vehicular Networking Conference (VNC 2021)
Contribution to Conference
IEEE Vehicular Networking Conference, VNC 2021  
Publisher DOI
10.1109/VNC52810.2021.9644624
Scopus ID
2-s2.0-85123776460
Autonomous high-density platooning imposes one of the most demanding requirements to Ultra-Reliable Low-Latency Communications (URLLC) for today's Vehicle-to-Vehicle (V2V) networks. Cooperative Adaptive Cruise Control (CACC) systems developed in recent years require resilient communication to prevent collisions among vehicles of the platoon and to prevent distance error amplification along the platoon. On the other hand, modern CACC algorithms need to handle sudden network outages, which are rare but inevitable in wireless communication. This work introduces a refinement of a constant-distance CACC algorithm and presents a novel approach on control input information management by taking the information decay of sensor data over time into account and by adjusting the controller to the available Age of Information (AoI). A simulation study shows a distance error reduction in the order of a full magnitude during burst packet losses in a 5th Generation (5G) Cellular Vehicle-to-Everything (C-V2X) network, compared to the original constant-distance CACC algorithm.