Time-Discretized Simulation of Vehicle Platoons for Safety Analysis with Guaranteed Error Bounds

TL;DR

This paper introduces time-discretized simulation methods for vehicle platoons that accurately analyze safety risks caused by wireless packet losses and sudden braking, ensuring error bounds in distance calculations.

Contribution

It proposes two novel time-step selection methods for simulations that guarantee bounded errors in vehicle distance estimates under safety-critical conditions.

Findings

Some control parameters outperform others in safety during packet loss events.

The methods effectively maintain error bounds in simulated vehicle distances.

Simulation results highlight the importance of parameter choice for safety.

Abstract

Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we propose simulation-based methods that allow the study of such safety issues by determining the absolute minimum distance between vehicles over time for various control parameters that guarantee string stability. For our proposed time-discretized simulations, we provide two methods for selecting different time-step intervals to ensure that the error in distance approximation remains within specified bounds at all times. Through numerical examples we demonstrate that among control parameters that guarantee string stability some perform better than others under simultaneously occurring packet losses and sudden brakes.