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arXiv · 1812.04548

Risk of Collision and Detachment in Vehicle Platooning: Time-Delay-Induced Limitations and Trade-Offs (Extended Version)

Christoforos Somarakis·Yaser Ghaedsharaf·Nader Motee
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Abstract

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.

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Christoforos Somarakis, Yaser Ghaedsharaf, Nader Motee. 2018-12-11. Risk of Collision and Detachment in Vehicle Platooning: Time-Delay-Induced Limitations and Trade-Offs (Extended Version). https://doi.org/10.1109/tac.2019.2950073

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