A Kalman-Based Compensation Strategy for Platoons Subject to Data Loss: Numerical and Empirical Study
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 communica...
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| Published in | Mathematics (Basel) Vol. 11; no. 5; p. 1228 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
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| 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. |
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| AbstractList | 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. |
| Audience | Academic |
| Author | Villenas, Felipe I. Vargas, Francisco J. Peters, Andrés A. |
| Author_xml | – sequence: 1 givenname: Felipe I. surname: Villenas fullname: Villenas, Felipe I. – sequence: 2 givenname: Francisco J. orcidid: 0000-0002-2532-6184 surname: Vargas fullname: Vargas, Francisco J. – sequence: 3 givenname: Andrés A. orcidid: 0000-0003-3282-770X surname: Peters fullname: Peters, Andrés A. |
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| SubjectTerms | Communication channels Data integrity Data loss Electronic data processing Empirical analysis Energy consumption Extrapolation Kalman filtering Kalman filters lossy communication Methods Missing data Mobile communication systems Monte Carlo method networked control systems Sensors string stability Topology Tracking Transmission loss vehicle platoon Vehicles Wireless communication systems Wireless communications |
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| Title | A Kalman-Based Compensation Strategy for Platoons Subject to Data Loss: Numerical and Empirical Study |
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