Graduate School and Research Center in Digital Sciences

Centralized model predictive CACC control robust to burst communication errors

Patel, Raj Haresh; Härri, Jérôme; Bonnet, Christian

IEEE CAVS 2018, IEEE Connected and Automated Vehicles Symposium, co-located with IEEE VTC 2018-Fall, 27 August 2018, Chicago, USA

A centralized controller computes controls and transmits them to automated vehicles. In case of a communication failure, control values will be missing and vehicles might take incorrect driving decisions. Although modern controllers may resist spurious communication errors, burst errors are expected to be more challenging. This paper introduces a centralized controller robust to burst errors. We propose a model predictive controller (MPC) computing intended future controls and sharing them with vehicles to be stored in a buffer. Through such buffer, vehicles may still retrieve control values even under burst errors. The proposed concept is evaluated in a mixed multi vehicle braking scenario and its superiority over other approaches in terms of distance and acceleration errors compared is shown.

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Title:Centralized model predictive CACC control robust to burst communication errors
Department:Communication systems
Eurecom ref:5607
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Bibtex: @inproceedings{EURECOM+5607, doi = {}, year = {2018}, title = {{C}entralized model predictive {CACC} control robust to burst communication errors}, author = {{P}atel, {R}aj {H}aresh and {H}{\"a}rri, {J}{\'e}r{\^o}me and {B}onnet, {C}hristian}, booktitle = {{IEEE} {CAVS} 2018, {IEEE} {C}onnected and {A}utomated {V}ehicles {S}ymposium, co-located with {IEEE} {VTC} 2018-{F}all, 27 {A}ugust 2018, {C}hicago, {USA} }, address = {{C}hicago, {UNITED} {STATES}}, month = {08}, url = {} }
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