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

Felipe I. Villenas, Francisco J. Vargas () and Andrés A. Peters
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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

Mathematics, 2023, vol. 11, issue 5, 1-26

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.

Keywords: vehicle platoon; lossy communication; string stability; networked control systems; Kalman filtering (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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