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Validation of an autonomous vehicle platoons model with time-varying communication delays

Author

Listed:
  • Al-Darabsah, Isam
  • Hsueh, Kuei-Fang
  • Khalil, Abdelrahman
  • Al Janaideh, Mohammad
  • Campbell, Sue Ann
  • Kundur, Deepa

Abstract

The Connected Autonomous Vehicle (CAV) is an emerging technology that aims to improve traffic flow by allowing autonomous vehicles to communicate with each other. The ability of the network to control and behave as a cooperative entity allows it to reduce the inter-vehicle spacing distance. The used model considers the optimal velocity and relative velocity models, providing an advanced capability to stabilize CAV. In Al-Darabsah et al. (2021), we presented a nonlinear model of the CAV network when it has time-varying communication delays and studied its plant and string stability. This paper aims to validate the model through numerical simulations and experimental data. The goal is to offer comprehensive insights into the theoretical results and their practical applications. Specifically, we explore the impact of the frequency and amplitude of the time-varying delay function on platoon (string) stability of the time-delayed platoon of connected autonomous robots. We present numerical results and an experiment of four autonomous robots and use the proposed method to analyze platoon stability. In the experiment, we observed that the proposed control signal effectively stabilizes a CAV system under time-varying delays. These results show stability in the presence of fluctuating delays.

Suggested Citation

  • Al-Darabsah, Isam & Hsueh, Kuei-Fang & Khalil, Abdelrahman & Al Janaideh, Mohammad & Campbell, Sue Ann & Kundur, Deepa, 2024. "Validation of an autonomous vehicle platoons model with time-varying communication delays," Chaos, Solitons & Fractals, Elsevier, vol. 184(C).
    • Handle: RePEc:eee:chsofr:v:184:y:2024:i:c:s0960077924005356
    DOI: 10.1016/j.chaos.2024.114983
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