IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v11y2023i5p1228-d1086141.html
   My bibliography  Save this article

A Kalman-Based Compensation Strategy for Platoons Subject to Data Loss: Numerical and Empirical Study

Author

Listed:
  • Felipe I. Villenas

    (Departamento de Electrónica, Universidad Técnica Federico Santa María, Avda. España 1680, Valparaíso 2390123, Chile)

  • Francisco J. Vargas

    (Departamento de Electrónica, Universidad Técnica Federico Santa María, Avda. España 1680, Valparaíso 2390123, Chile)

  • Andrés A. Peters

    (Faculty of Engineering and Sciences, Universidad Adolfo Ibáñez, Santiago 7941169, Chile)

Abstract

This article considers a homogeneous platoon with vehicles that communicate through channels prone to data loss. The vehicles use a predecessor-following topology, where each vehicle sends relevant data to the next, and data loss is modeled through a Bernoulli process. To address the lossy communication, we propose a strategy to estimate the missing data based on the Kalman filter with intermittent observations combined with a linear extrapolation stage. This strategy enables the followers to better deal with data dropouts. We compare this approach to one purely based on the linear extrapolation of previous data. The performance of both strategies is analyzed through Monte Carlo simulations and experiments in an ad hoc testbed, considering various data loss and transmission loss probabilities depending on the inter-vehicle distance. The results show that for the considered cases, the proposed strategy outperforms the linear extrapolation approach in terms of tracking and estimation error variances. Our results also show that the proposed strategy can achieve string stability for the mean and variance for both the tracking and estimation errors in scenarios where the basic extrapolation strategy cannot.

Suggested Citation

  • Felipe I. Villenas & Francisco J. Vargas & Andrés A. Peters, 2023. "A Kalman-Based Compensation Strategy for Platoons Subject to Data Loss: Numerical and Empirical Study," Mathematics, MDPI, vol. 11(5), pages 1-26, March.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:5:p:1228-:d:1086141
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/11/5/1228/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/2227-7390/11/5/1228/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Zhong-Hua Pang & Lan-Zhi Fan & Haibin Guo & Yuntao Shi & Runqi Chai & Jian Sun & Guo-Ping Liu, 2022. "Security of networked control systems subject to deception attacks: a survey," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(16), pages 3577-3598, December.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Felipe I. Villenas & Francisco J. Vargas & Andrés A. Peters, 2023. "Exploring the Role of Sampling Time in String Stabilization for Platooning: An Experimental Case Study," Mathematics, MDPI, vol. 11(13), pages 1-18, June.
    2. Yeqin Shao & Quan Jiang, 2023. "Some Inverse Problems of Two-Dimensional Stokes Flows by the Method of Fundamental Solutions and Kalman Filter," Mathematics, MDPI, vol. 12(1), pages 1-26, December.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.

      Corrections

      All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:11:y:2023:i:5:p:1228-:d:1086141. See general information about how to correct material in RePEc.

      If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

      If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

      If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

      For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

      Please note that corrections may take a couple of weeks to filter through the various RePEc services.

      IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.