Including Follower Dynamics in Beaconing for Platooning Safety

2025-02-28

AI Summary

This paper addresses the delayed collision warning in CACC platoons caused by conventional adaptive beaconing mechanisms that neglect follower vehicle dynamics. We propose a dynamic beaconing strategy that integrates longitudinal vehicle dynamics and jerk (time-derivative of acceleration) characteristics. For the first time, the platoon follower’s dynamic response is explicitly incorporated into the beacon triggering logic; under the Jerk Beaconing framework, message transmission frequency is adaptively adjusted in real time based on proximity to safety-critical states. The method preserves PATH CACC string stability while significantly improving responsiveness and collision warning capability under emergency conditions. Communication overhead increases negligibly—channel busy ratio remains virtually indistinguishable from constant-bit-rate (CBR) baseline. The core contribution is a novel dynamics-aware adaptive beaconing paradigm that jointly optimizes safety and communication efficiency.

Technology Category

• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Cognitive Modeling & Cognitive Systems: Adaptive Behavior
• Humans and AI: Human-Aware Planning and Behavior Prediction

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Security and Privacy: Large-scale security measurements

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.

Problem

• Address platoon follower dynamics in adaptive beaconing
• Enhance safety in Jerk Beaconing (JB) scheme
• Evaluate safety, string stability, and CBR overhead

Innovation

• Integrates follower dynamics into adaptive beaconing
• Enhances safety using Jerk Beaconing scheme
• Maintains string stability with low CBR overhead