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An intelligent highway traffic model using cooperative vehicle platooning techniques
... Chiedu, N.M. and Keyvan, H.Z. studied a stability analysis of CACC-based platoons [13]. Rakkesh et al. studied a homogenous platoon composed of eight vehicles to compare CACC and ACC systems, and it was proven that the CACC system had better vehicle tracking and energy saving performance [14]. Zegers et al. designed a multi-layer control architecture based on CACC, in order to achieve the stability of and the expected spacing between vehicles of the platoon [15]. ...
... In the above studies, the majority focused on one single performance factor as the experimental objective, and only a few concerned two objectives, mainly for homogeneous platoons, such as refs. [5,6,11,14]. Recently, some scholars have gradually become concerned about the multi-objective control of heterogeneous platoons. ...
... The real state of the ego vehicle i is expressed as Equation (13). The desired state of vehicle i is calculated according to the state of the leader, expressed by Equation (14). The desired state of vehicle i calculated according to the preceding vehicle i − 1 is expressed as Equation (15). ...
Stability, vehicle safety, energy saving, and passenger comfort are the major objectives of vehicle platooning control. These objectives are coupled, interrelated, and even conflicting, so integrated optimization of multiple objectives is quite challenging. Particularly for heterogeneous platoons, the difficulties are intensified for the differences in vehicle dynamics. In this paper, the concept of symmetry is utilized in the platooning control, that is, the design method of each vehicle’s controller is the same. For each controller, it is to solve the optimal solution of multi-objective collaborative optimization. The concept of asymmetry is meanwhile embodied in the parameter setting of each controller, for the vehicle heterogeneity. The contents of this study are as follows. First, a mathematical model is established, in which the differences in vehicle dynamic characteristics of heterogeneous platoon, road slope, and aerodynamics are all taken into account. Then, based on distributed nonlinear model predictive control (DNMPC) method, multi-objective control strategies are proposed for the leader and followers, cooperatively. Furthermore, a weight coefficient optimization method is presented, to further improve the platoon’s multi-objective synthesis performance. Finally, comparative experiments are carried out. Results demonstrate that, compared with the classic cruise control method of vehicle platoons, the proposed approach can reduce energy consumption by more than 5% and improve tracking performance on the premise of passenger comfort. Real-road experiments verify that the proposed control system can function effectively and satisfy the computational requirements in real applications.
... Authors in [33] used SUMO for managing vehicular traffic flow while platoon management and vehicular communications were jointly handled using VEINS, OMNET++, and Platooning Extension for Veins (PLEXE) developed by authors in [34]. PLEXE framework was used to schedule an 8-node platoon of vehicles to assess the efficiency of platooning by creating different scenarios with closer and higher inter-vehicular gaps using CACC and ACC [33]. ...
... Authors in [33] used SUMO for managing vehicular traffic flow while platoon management and vehicular communications were jointly handled using VEINS, OMNET++, and Platooning Extension for Veins (PLEXE) developed by authors in [34]. PLEXE framework was used to schedule an 8-node platoon of vehicles to assess the efficiency of platooning by creating different scenarios with closer and higher inter-vehicular gaps using CACC and ACC [33]. In [35], SUMO was used for multi-vehicles studies in urban scenarios. ...
Autonomous Vehicles (AVs) and Connected Autonomous Vehicles (CAVs) are being widely tested and rapidly developed over the past few years. With the development and increasing number of AVs and CAVs in mixed traffic flow, it is necessary to analyze their impact on traffic safety, flow, speed, fuel consumption, and emissions. Also, appropriate traffic control algorithms need to be developed before they can be fully implemented and integrated into the traffic environment. To do so, such mixed traffic flows must be simulated in various traffic scenarios. Traffic flow simulators paired with communication network simulators are commonly used to perform multiple simulations of such traffic flows. In this paper, three often used traffic simulators VISSIM, AIMSUN, and SUMO paired with network simulators NS-3 and OMNET++ with their features to model AVs and CAVs in a simulation environment are analyzed. According to currently available and tested simulators in the research community, the most used ones were compared. Results of the synthesized technical aspects of each suggest that AIMSUN Next is more suitable for a less complex traffic model. At the same time, VISSIM is more suitable for a more complex traffic model.
... • Vehicle Platoons: In practice this has been studied through a cyber-physical restating of the problem in order to ensure proper tracking of the dynamical properties of such a platoon, or the arrival, merging and joining [210]. Implement an intelligent decision making framework for intelligent vehicle platooning, which would outperform the non cooperative solutions in certain comparison parameters from [211]. There were proposed an energy-efficient platooning with the assistance of Gray Wolf Optimization (GWO) based platooning management [212]. ...
The Large Communication Substitution between vehicles to infrastructure (V2I) or between vehicles (V2V), called as Vehicular Ad-Hoc Networks (VANETs), in new Tale Intelligent Transportation Systems (ITS) are degree and stop developing for extensive traffic manage, highway safety, and driverless cars. VEINS is a simulator framework that couples OMNeT++ and SUMO, widely used for assessing performance of VANET protocols and network architectures. However, it was observed that no existing research reviewed VEINS applications, limitations, or emerging trends in a structured manner. In this paper we provide a software-oriented summary of VEINS-based VANET studies. This research adds a taxonomy-oriented classification of studies published from 2011 to 2022, focusing on IEEE Xplore, ScienceDi-rect, and Scopus categorized security, safety, and other VANET applications. It identifies some gaps, right from the scalability, and computational overhead aspect to the limited integration of the next-generation technologies like 5G, Blockchain, and AI. A well-defined article selection strategy, extensive data extraction, and a comparative analysis of published VEINS studies is followed throughout the study. Statistical analyses show a growing percentage of VEINS but also point out obstacles to its real world usage. Key Insights point to an emphasis on security and safety, with little focus on emerging technologies and real-world validations. This review adds value to the body of knowledge by (1) establishing a systematic taxonomy of VEINS-based research, (2) highlighting gaps in research and methodological limits, and (3) providing future research directions focused on VEINS scalability enhancement, real-world validation frameworks, and AI-enabled VANET optimizations. The study is expected to be a useful reference for researchers and practitioners who intend to improve VEINS-based simulations of VANETs and accelerate development in the field of ITS.
... Platoonmembers must act cooperatively to control and manage the platoon actions including platoon formation, merging, splitting, maintenance, etc. The operation of these actions is facilitated by the improved version of adaptive cruise control, which assists the platoons in matching the movement of a vehicle to the distance, speed, and direction of the vehicle in front [14]- [16]. It is worth mentioning that there are two possible ways to form platoons, the normal platoons and the customized truck platoons, which are collectively referred as platoons. ...
Intelligent connected vehicles equipped with wireless sensors, intelligent control system, and communication devices are expected to commercially launch and emerge on road in short-term. These smart vehicles are able to partially/fully drive themselves; collect data from sensors, make and execute decisions based on that data; communicate with other vehicles, pedestrians, and nodes installed on the road; and provide infotainment and value-added services, such as broadband transmission of ultra-high definition video, files/apps downloading and uploading, online gaming, access to social media, audio/video conference streaming (office-in-car), live TV streaming, etc.; and so on. In addition, it is also possible for autonomous vehicles to form a "platoon" on road; maintaining close proximity in order to reduce the consumption of fuel and/or emission of gas, decrease costs, increase safety, and enhance the efficiency of the legacy transportation system. These emerging vehicular applications demand a large amount of computing and communication capacity to excel in their compute-intensive and latency-sensitive tasks. Based on these facts, the authors of this paper presented a visionary concept -- "platoon-assisted vehicular cloud" -- that exploits underutilized resources in platoons to augment vehicular cloud aiming to provide cost-effective and on-demand computing resources. Moreover, the authors presented three potential scenarios and explained the exploitation of platoon resources and roadside infrastructure to facilitate new applications. Besides system design, the paper did also summarize a number of open research challenges with the purpose of motivating new advances and potential solutions to this field.
The state-of-the-art framework for VANETs, Vehicles in Network Simulation (VEINS), is primarily sparse and fragmented. The combination of VANETs and VEINS can improve road safety, efficiency, and user experience for connected and autonomous vehicles. This research examined existing trends and knowledge gaps to provide actionable insights for technical contexts and researchers. Therefore, this systematic literature evaluation was conducted to create a full classification of the article ecosystem. The literature applies the VEINS framework to simulate and evaluate in-vehicle personalized entertainment recommendations based on real-time traffic data and user preferences. We examine service metrics for VANET-integrated vehicle content exchange. Three databases were consulted throughout this study: Scopus, ScienceDirect, and IEEE Xplore. The databases had extensive VANET-related research built on the VEINS framework. Then, screening was completed based on the services considerations. The topic is thoroughly covered in this categorization. Taxonomy proposes categories and subcategories. The initial group includes papers discussing different aspects of VANET-based VEINS framework applications (35/9878 total). The second group consists of pieces that focus on the answer (15/98 total). Network-related articles (48/98 total) make up the final section. This work concludes with a discussion of the VEINS framework’s design and bidirectional connectivity. This study could be helpful for researchers working on VANETs and the VEINS framework by highlighting areas where further development is necessary.
Vehicle-to-vehicle (V2V) communication is crucial in platooning configurations to ensure lateral and longitudinal control of the vehicle trajectory and thus must be reliable. Though radio frequency (RF) systems are widely used for their numerous qualities, their performances can be severely degraded in dense traffic scenario. Visible light communication (VLC), which is not as sensible, could be used as a complementary technology. In this work, a simple and low-cost VLC system suitable for V2V communications is presented. An off-the-shelf central stop lamp, composed of six low-power light-emitting diodes (LED), is used as emitter whereas a photodiode (PD) coupled with an analog processing circuit is used as receiver. This system provides, at a rate of 100 kbps and without errors, a packet delivery ratio (PDR) of 100% over 4.5 m and 77% over 6 m while keeping the transmission latency under 6 ms and is thus compatible with platooning applications.
Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic model of the proposed mobile robot is simulated and the kinematic modelling was included in to simulate the motion of the mobile robot. PID controller will be used as a controller for robot’s motion and platooning strategy. A reference distance is given as the input and the PID controller computes the error and sends input to the mobile robot in the form of voltage. The robot is able to follow the leader robot by maintaining a distance of one metre with a small deviation in the direction as the robot tends to move towards the left due to forces acting on the wheel. This method can be implemented in a human following mobile robot where the leader robot is replaced with a human user.
To properly assess the impact of (cooperative) adaptive cruise control ACC (CACC), one has to model vehicle dynamics. First of all, one has to choose the car following model, as it determines the vehicle flow as vehicles accelerate from standstill or decelerate because of the obstacle ahead. The other factor significantly affecting the intersection throughput is the maximal vehicle acceleration rate. In this paper, we analyze three car following behaviors: Gipps model, Improved Intelligent Driver Model (IIDM) and Helly model. Gipps model exhibits rather aggressive acceleration behavior. If used for the intersection throughput estimation, this model would lead to overly optimistic results. Helly model is convenient to analyze due to its linear nature, but its deceleration behavior in the presence of obstacles ahead is unrealistically abrupt. Showing the most realistic acceleration and deceleration behavior of the three models, IIDM is suited for ACC/CACC impact evaluation better than the other two. We discuss the influence of the maximal vehicle acceleration rate and presence of different portions of ACC/CACC vehicles on intersection throughput in the context of the three car following models. The analysis is done for two cases: (1) free road downstream of the intersection; and (2) red light at some distance downstream of the intersection. Finally, we introduce the platoon model and evaluate ACC and CACC with platooning in terms of travel time ad network throughput using SUMO simulation of the 4-mile stretch of Colorado Boulevard / Huntington Drive arterial with 13 signalized intersections in Arcadia, Southern California.
Cooperative adaptive cruise control (CACC) systems have the potential to increase traffic throughput by allowing smaller headway between vehicles and moving vehicles safely in a platoon at a harmonized speed. CACC systems have been attracting significant attention from both academia and industry since connectivity between vehicles will become mandatory for new vehicles in the USA in the near future. In this paper, we review three basic and important aspects of CACC systems: communications, driver characteristics, and controls to identify the most challenging issues for their real-world deployment. Different routing protocols that support the data communication requirements between vehicles in the CACC platoon are reviewed. Promising and suitable protocols are identified. Driver characteristics related issues, such as how to keep drivers engaged in driving tasks during CACC operations, are discussed. To achieve mass acceptance, the control design needs to depict real-world traffic variability such as communication effects, driver behavior, and traffic composition. Thus, this paper also discusses the issues that existing CACC control modules face when considering close to ideal driving conditions.
Since the year 2000, the Institute of Transportation Research (IVF) at
the German Aerospace Centre (DLR) is developing a microscopic, traffic
simulation package. The complete package is offered as open source to
establish the software as a common testbed for algorithms and models from
traffic research.
Since the year 2003 the IVF also works on a virtual traffic management centre
and in conjunction with this on traffic management. Several large-scale projects
have been done since this time, most importantly INVENT where modern
traffic management methods have been evaluated and the online-simulation and
prediction of traffic during the world youth day (Weltjugendtag) 2005 in
Cologne/Germany.
This publication briefly describes the simulation package together with the
projects mentioned above to show how SUMO can be used to simulate largescale
traffic scenarios. Additionally, it is pointed out how SUMO may be used
as a testbed for automatic management algorithms with minor effort in
developing extensions.
Cooperative adaptive cruise control (CACC) is an extension of ACC. In addition to measuring the distance to a predecessor, a vehicle can also exchange information with a predecessor by wireless communication. This enables a vehicle to follow its predecessor at a closer distance under tighter control. This paper focuses on the impact of CACC on traffic-flow characteristics. It uses the traffic-flow simulation model MIXIC that was specially designed to study the impact of intelligent vehicles on traffic flow. The authors study the impacts of CACC for a highway-merging scenario from four to three lanes. The results show an improvement of traffic-flow stability and a slight increase in traffic-flow efficiency compared with the merging scenario without equipped vehicles
Vehicular ad hoc networking is an emerging technology for future on-the-road communications. Due to the virtue of vehicle-to-vehicle and vehicle-to-infrastructure communications, vehicular ad hoc networks (VANETs) are expected to enable a plethora of communication-based automotive applications including diverse in-vehicle infotainment applications and road safety services. Even though vehicles are organized mostly in an ad hoc manner in the network topology, directly applying the existing communication approaches designed for traditional mobile ad hoc networks to large-scale VANETs with fast-moving vehicles can be ineffective and inefficient. To achieve success in a vehicular environment, VANET-specific communication solutions are imperative. In this paper, we provide a comprehensive overview of various radio channel access protocols and resource management approaches, and discuss their suitability for infotainment and safety service support in VANETs. Further, we present recent research activities and related projects on vehicular communications. Potential challenges and open research issues are also discussed.
Recently, many efforts have been made to develop more efficient Inter-Vehicle Communication (IVC) protocols for on-demand route planning according to observed traffic congestion or incidents, as well as for safety applications. Because practical experiments are often not feasible, simulation of network protocol behavior in Vehicular Ad Hoc Network (VANET) scenarios is strongly demanded for evaluating the applicability of developed network protocols. In this work, we discuss the need for bidirectional coupling of network simulation and road traffic microsimulation for evaluating IVC protocols. As the selection of a mobility model influences the outcome of simulations to a great extent, the use of a representative model is necessary for producing meaningful evaluation results. Based on these observations, we developed the hybrid simulation framework Veins (Vehicles in Network Simulation), composed of the network simulator OMNeT++ and the road traffic simulator SUMO. In a proof-of-concept study, we demonstrate its advantages and the need for bidirectionally coupled simulation based on the evaluation of two protocols for incident warning over VANETs. With our developed methodology, we can advance the state-of-the-art in performance evaluation of IVC and provide means to evaluate developed protocols more accurately.
Safe and Efficient Communication Protocols for Platooning Control
- M Segata
Adaptive cruise control
- K Jurgen
- Ronald
The open source traffic simulation package SUMO
- D Krajzewicz
OMNeT++ - Modeling and Tools for Network Simulation
- Andras Varga