Including Follower Dynamics in Beaconing for Platooning Safety

TL;DR

This paper introduces a method to incorporate follower dynamics into adaptive beaconing for platooning, significantly improving safety while maintaining stability and low channel overhead.

Contribution

It extends the Jerk Beaconing scheme to include follower dynamics, enhancing safety and stability in platooning without increasing channel congestion.

Findings

Enhanced safety in platooning with follower dynamics inclusion

Maintained string stability under normal conditions

No significant increase in channel busy ratio

Abstract

In this paper, we propose procedures to address platoon follower dynamics within adaptive beaconing. We implement them in a known adaptive beaconing scheme which is Jerk Beaconing (JB) to improve its safety. We evaluate our proposed approach in terms of safety, string stability and the channel busy ratio (CBR) overhead. The results reveal that our proposal significantly enhances safety without imposing substantial CBR overhead and maintains the string stability of the PATH CACC controller under normal conditions.