An Extendable Maneuver Management Framework with Fault-Tolerant Mechanism for Vehicle Platoon Control System in Highway Scenario

TL;DR

This paper presents an extendable, fault-tolerant maneuver management framework for vehicle platoon control systems that enhances scalability and safety in highway scenarios through hierarchical architecture and real-world testing.

Contribution

Introduces a two-dimensional, extendable maneuver management framework with fault-tolerance for vehicle platoons, enabling flexible maneuver addition without system revision.

Findings

Framework effectively manages various maneuvers in simulations.

Real-world micro-vehicle tests confirm real-time performance.

Fault-tolerance mechanism enhances safety during hardware failures.

Abstract

Vehicle platoon often face the problem of lack of scalability of maneuvers in practical applications. Once a new scenario is added, the original program may no longer be available. To deal with this problem, this paper introduces a two-dimensional maneuver management framework with a fault-tolerant mechanism on the basis of the proposed hierarchical architecture for the platoon control system. Maneuvers and roles are two dimensions, based on which the management strategies are decoupled. This makes each vehicle in the platoon has the ability to execute management strategies of various maneuvers and the new maneuver could be extended without revising the existing part. The fault-tolerant mechanism is designed as a maneuver triggered by hardware failures to keep safe before taking over. Furthermore, three typical maneuvers are selected for case studies to illustrate how the management strategies in this framework work. Finally, a comprehensive simulation scenario integrating different maneuvers is designed and a real-world implementation using micro-vehicles is conducted. Results show that the propose two-dimensional framework could effectively deal with various maneuvers and satisfy the computational real-time requirements