hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Vehicle-to-Vehicle Communication for Safe and Fuel-Efficient Platooning
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).ORCID iD: 0000-0001-8587-2251
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).ORCID iD: 0000-0002-9738-4148
Scania CV AB, Södertälje, Sweden.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES).ORCID iD: 0000-0003-4894-4134
2020 (English)In: 2020 IEEE Intelligent Vehicles Symposium (IV), Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2020, p. 795-802, article id 9304719Conference paper, Published paper (Refereed)
Abstract [en]

A platoon consists of a string of vehicles traveling close together. Such tight formation allows for increased road throughput and reduced fuel consumption due to decreased air resistance. Furthermore, sensors and control algorithms can be used to provide a high level of automation. In this context, safety – in terms of no rear-end collisions – is a key property that needs to be assured. We investigate how vehicle-to-vehicle communication can be used to reduce inter-vehicle distances while guaranteeing safety in emergency braking scenarios. An optimization-based modeling scheme is presented that, under certain restrictions, provides an analytical calculation of inter-vehicle distances for safe braking. In contrast to earlier simulation-based approaches, the framework allows for computationally efficient solutions with explicit guarantees. Two approaches for computing braking strategies in emergency scenarios are proposed. The first assumes centralized coordination by the leading vehicle and exploits necessary optimal conditions of a constrained optimization problem, whereas the second – the more conservative solution – assumes only local information and is distributed in nature. We illustrate the usefulness of the approaches through several computational simulations. © 2020 IEEE.

Place, publisher, year, edition, pages
Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2020. p. 795-802, article id 9304719
Series
IEEE Intelligent Vehicles Symposium, E-ISSN 2642-7214
Keywords [en]
Collision Avoidance, V2X Communication, Automated Vehicles
National Category
Communication Systems Telecommunications
Identifiers
URN: urn:nbn:se:hh:diva-43764DOI: 10.1109/IV47402.2020.9304719Scopus ID: 2-s2.0-85094146908ISBN: 978-1-7281-6673-5 (print)OAI: oai:DiVA.org:hh-43764DiVA, id: diva2:1515661
Conference
31st IEEE Intelligent Vehicles Symposium (IV), October 19 - November 13, 2020, (Virtual), Las Vegas, NV, United States
Available from: 2021-01-11 Created: 2021-01-11 Last updated: 2024-03-05Bibliographically approved
In thesis
1. Safety of Cooperative Automated Driving: Analysis and Optimization
Open this publication in new window or tab >>Safety of Cooperative Automated Driving: Analysis and Optimization
2022 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

New cooperative intelligent transportation system (C-ITS) applications become enabled thanks to advances in communication technologies between vehicles(V2V) and with the infrastructure (V2I). Communicating vehicles share information with each other and cooperate, which results in improved safety, fuel economy, and traffic efficiency. An example of a C-ITS application is platooning, which comprises a string of vehicles that travel together with short inter-vehicle distances (IVDs).

Any solution related to C-ITS must comply with high safety requirements in order to pass standardization and be commercially deployed. Furthermore, trusted safety levels should be assured even for critical scenarios.

This thesis studies the conditions that guarantee safety in emergency braking scenarios for heterogeneous platooning, or string-like, formations of vehicles. In such scenarios, the vehicle at the head of the string emergency brakes and all following vehicles have to automatically react in time to avoid rear-end collisions. The reaction time can be significantly decreased with vehicle-to-vehicle (V2V) communication usage since the leader can explicitly inform other platooning members about the critical braking.

The safety analysis conducted in the thesis yields computationally efficient methods and algorithms for calculating minimum inter-vehicle distances that allow avoiding rear-end collisions with a predefined high guarantee. These IVDs are theoretically obtained for an open-loop and a closed-loop configurations. The former implies that follower drives with a constant velocity until braking starts, whereas in the latter, an adaptive cruise control (ACC) with a constant-distance policy serves as a controller. In addition, further optimization of inter-vehicle distances in the platoon is carried out under an assumption of centralized control. Such an approach allows achieving better fuel consumption and road utilization.

The performed analytical comparison suggests that our proposed V2V communication based solution is superior to classical automated systems, such as automatic emergency braking system (AEBS), which utilizes only onboard sensors and no communication. Wireless communication, enabling to know the intentions of other vehicles almost immediately, allows for smaller IVDs whilst guaranteeing the same level of safety.

Overall, the presented thesis highlights the importance of C-ITS and, specifically, V2V in the prevention of rear-end collisions in emergency scenarios. Future work directions include an extension of the obtained results by considering more advanced models of vehicles, environment, and communication settings; and applying the proposed algorithms of safety guaranteeing to other controllers, such as ACC with a constant time headway policy.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2022. p. 33
Series
Halmstad University Dissertations ; 83
Keywords
platooning, Cooperative Intelligent Transportation System (C-ITS), Vehicle-to-Vehicle (V2V) communication, emergency braking, road safety, ITS-G5, IEEE 802.11p, automated driving
National Category
Control Engineering Communication Systems
Identifiers
urn:nbn:se:hh:diva-46288 (URN)978-91-88749-76-5 (ISBN)978-91-88749-75-8 (ISBN)
Presentation
2022-03-03, Wigforss, Kristian IV:s väg 3, Halmstad, 10:15 (English)
Opponent
Supervisors
Available from: 2022-02-09 Created: 2022-02-08 Last updated: 2022-02-09Bibliographically approved
2. Cooperative Automated Driving for Enhanced Safety and Ethical Decision-Making
Open this publication in new window or tab >>Cooperative Automated Driving for Enhanced Safety and Ethical Decision-Making
2024 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Advances in technologies for vehicular communication enable new applications for Cooperative Intelligent Transportation Systems (C-ITS). Communicating vehicles share information and cooperate, which allows for improved safety, fuel economy, and traffic efficiency. Platooning – a coordinated string of vehicles with small Inter-Vehicle Distances (IVDs) – comprises one such C-ITS application. Any C-ITS application must comply with high safety requirements to pass standardization and be commercially deployed. Moreover, trusted solutions should be guaranteed even for critical scenarios or rare edge cases. This thesis presents two sets of contributions related to cooperative automated driving. Firstly, it provides conditions ensuring safe platooning or vehicle following. Secondly, it introduces an ethical framework to guide autonomous decision-making in scenarios involving imminent collisions. In the first set of contributions, we consider emergency braking scenarios for vehicles driving in a platoon or following each other. In such scenarios, the lead vehicle suddenly brakes. This requires swift responses from followers to prevent rear-end collisions. Here, Vehicle-to-Everything (V2X) communication has the potential to significantly reduce reaction times by allowing the lead vehicle to notify followers of the emergency braking. The presented safety analysis yields computationally efficient methods and algorithms for calculating minimum IVDs for rear-end collision avoidance. The IVDs are computed for closed-loop and open-loop configurations. The open-loop configuration implies followers drive with a constant velocity until the onset of braking, whereas in the closed-loop configuration, a controller is used under some restrictions. In addition, a centralized approach for optimization of IVDs in platoon formations is carried out. Such an approach allows for improved fuel consumption and road utilization. An analytical comparison shows that our proposed Vehicle-to-Vehicle (V2V) communication-based solution is superior to classic automated systems, such as automatic emergency braking system, which utilizes only onboard sensors. Wireless communication provides intentions to vehicles almost immediately, which allows for smaller IVDs while guaranteeing the same level of safety.

In the second set of contributions, an ethical framework to guide autonomous decision-making is presented. Even though collisions resulting from edge cases are unlikely, it is essential to address them in motion planning logic for autonomous vehicles. Decisions made in such situations should always prioritize ethical considerations, such as saving human lives. Adhering to ethical principles in the development and deployment of autonomous vehicles is essential for fostering public understanding and acceptance. The thesis presents a framework of ethical V2X communication, where V2X is acknowledged as an essential means for enabling autonomous vehicles to perform coordinated actions to meet certain ethical criteria. The presented framework demonstrates how the risk or harm resulting from unavoidable collisions can be mitigated or redistributed under ethical considerations through cooperation between vehicles. Overall, the presented thesis highlights the importance of C-ITS and, specifically, V2X communication in managing emergency scenarios. V2X communication enables faster response times and facilitates cooperative maneuvers, which helps preventing rear-end collisions or mitigating their consequences under ethical considerations. Future work directions include an extension of the obtained results by considering more advanced models of vehicles, environment, and communication settings; and applying the proposed frameworks to more complicated traffic scenarios.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2024. p. 163
Series
Halmstad University Dissertations ; 110
Keywords
Cooperative Intelligent Transportation System (C-ITS), cooperative vehicles, Vehicle-to-Vehicle (V2V) communication, V2X communications, automated driving, platooning, emergency braking, road safety, vehicular safety, ITS-G5, IEEE 802.11p, ethical dilemmas, ethical decision-making, autonomous driving ethics
National Category
Communication Systems Telecommunications Control Engineering
Identifiers
urn:nbn:se:hh:diva-52837 (URN)978-91-89587-34-2 (ISBN)978-91-89587-33-5 (ISBN)
Public defence
2024-03-28, Wigforss, Kristian IV:s väg 3, Halmstad, Halmstad, 10:15 (English)
Opponent
Supervisors
Available from: 2024-03-07 Created: 2024-03-05 Last updated: 2024-03-08Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Sidorenko, GalinaThunberg, JohanVinel, Alexey

Search in DiVA

By author/editor
Sidorenko, GalinaThunberg, JohanVinel, Alexey
By organisation
Halmstad Embedded and Intelligent Systems Research (EIS)Centre for Research on Embedded Systems (CERES)
Communication SystemsTelecommunications

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 132 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf