Risk of Cascading Collisions in Network of Vehicles with Delayed Communication

TL;DR

This paper develops a theoretical framework to analyze and quantify the risk of cascading collisions in vehicle platoons considering communication delays and uncertainties, providing insights for safer platoon design.

Contribution

It introduces closed-form expressions for cascading collision risk using AVAR, incorporating network topology, delays, and uncertainties, advancing safety analysis in vehicle platoons.

Findings

Derived bounds on inter-vehicle distances for risk assessment

Quantified cascading collision risk using AVAR

Analyzed impact of network topology and delays

Abstract

This paper establishes and explores a framework to analyze the risk of cascading failures in a platoon of autonomous vehicles, accounting for communication time-delays and input uncertainty. Our proposed framework yields closed-form expressions for cascading collisions, which we quantify using the coherent Average Value-at-Risk ($\AVAR$) to assess the cascading effect of vehicle collisions within the platoon. We investigate how factors such as network connectivity, system dynamics, communication delays, and uncertainty contribute to the emergence of cascading failures. Our findings are extended to standard communication graphs with symmetries, allowing us to evaluate the risk of cascading collisions from a platoon design perspective. Furthermore, by discovering the boundedness of the inter-vehicle distances, we reveal the best achievable risk of cascading collision with general graph topologies, which is further specified for special communication graph, such as the complete graph. Our theoretical results pave the way for the development of a safety-aware framework aimed at mitigating the risk of cascading collisions in vehicle platoons.