Platoon架构下VANETs车间通信过程及性能分析
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摘要
智能车辆编组platoon的稳定运行需要车辆间实时可靠的信息传输来保证.针对应用专用短程通信(DSRC)技术来实现车载自组织网路(VANETs)车间通信的platoon架构,提出了一种车间通信网络性能的分析方法,分别对platoon组内智能车辆间通信和多个platoons组间通信的过程进行了分析.该方法采用长度有限的M/G/1/K排队模型分析数据包到达媒体访问控制(MAC)层的排队过程,得到不同网络负载下缓冲区排队状态的平稳分布;并且在缓冲区可能处于空闲状态时,利用Markov模型分析方法得到不同车辆位置的车间通信性能.研究结果表明:网络数据流量、信道条件、MAC层缓冲区排队过程、争用信道退避过程以及platoon参数对车间通信的包传输时延和包丢失概率等网络性能有显著影响,数值分析结果验证了专用短程通信技术下的车间通信具有较小的信息传输延时,能够满足platoon稳定运行的要求.
Stable driving of autonomous vehicles platoon is ensured by reliable real-time information transmission between vehicles.Aiming at the platoon architecture, which uses dedicated short range communication technology(DSRC) in VANETs, an analysis method of vehicle-to-vehicle communication networks performance is proposed. It mainly studies inter autonomous vehicles communication process of intra-platoon and the inter-platoon communication process in multi-platoon marshalling. It uses M/G/1/K queue model with limited length to analyze the queuing process of packet arriving at media access control layer, which is described through steady distribution of buffer states under different network loads. Subsequently, it derives communication characteristics under different vehicles location through the analysis method of Markov model considering idle state of buffer. Research results show that various factors including the network data flow, channel conditions, MAC layer buffer queuing process, contention channel process, and platoon parameters, have a substantial influence on packet transmission delay and packet loss probability of inter vehicles communication, and the delay of vehicle-to-vehicle communication based on DSRC satisfies string stability demand of platoon.
Stable driving of autonomous vehicles platoon is ensured by reliable real-time information transmission between vehicles.Aiming at the platoon architecture, which uses dedicated short range communication technology(DSRC) in VANETs, an analysis method of vehicle-to-vehicle communication networks performance is proposed. It mainly studies inter autonomous vehicles communication process of intra-platoon and the inter-platoon communication process in multi-platoon marshalling. It uses M/G/1/K queue model with limited length to analyze the queuing process of packet arriving at media access control layer, which is described through steady distribution of buffer states under different network loads. Subsequently, it derives communication characteristics under different vehicles location through the analysis method of Markov model considering idle state of buffer. Research results show that various factors including the network data flow, channel conditions, MAC layer buffer queuing process, contention channel process, and platoon parameters, have a substantial influence on packet transmission delay and packet loss probability of inter vehicles communication, and the delay of vehicle-to-vehicle communication based on DSRC satisfies string stability demand of platoon.
引文
[1]Xiao L,Gao F.Practical string stability of platoon of adaptive cruise control vehicles.IEEE Trans.on Intelligent Transportation Systems,2011,12(4):1184-1194.[doi:10.1109/TITS.2011.2143407]
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[22]Jia DY,Zhang R,Lu KJ,Wang JP,Bi ZQ,Lei JS.Improving the uplink performance of drive-thru internet via platoon-based cooperative retransmission.IEEE Trans.on Vehicular Technology,2014,63(9):4536-4545.[doi:10.1109/TVT.2014.2315741]
[23]Peng H,Li D,Abboud K,Zhou HB,Zhao H,Zhuang WH,Shen XM.Performance analysis of IEEE 802.11p DCF for multiplatooning communications with autonomous vehicles.IEEE Trans.on Vehicular Technology,2016.1.[doi:10.1109/TVT.2016.2571696]
[24]Zheng Y,Lu K,Wu D,Fang Y.Performance analysis of IEEE 802.11 DCF in imperfect channels.IEEE Trans.on Vehicular Technology,2006,55(5):1648-1656.[doi:10.1109/TVT.2006.878606]
[25]Bai X,Mao YM.Performance investigation of IEEE 802.11e EDCA based on the M/G/1/K queue model.Journal of Electronics and Information,2008,30(7):1610-1614(in Chinese with English abstract).[doi:10.3724/SP.J.1146.2006.01926]
[26]Zhai H,Kwon Y,Fang Y.Performance analysis of IEEE 802.11 MAC protocols in wireless LANs.Wireless Communications and Mobile Computing,2004,4(8):917-931.[doi:10.1002/wcm.263]
[4]马春梅.城市环境VANETs数据传输及智能安全行驶研究[博士学位论文].成都:电子科技大学,2015.
[5]吴振华,胡鹏.VANET中路由协议分析.通信学报,2015,36(Z1):75-84.[doi:10.11959/j.issn.1000-436x.2015284]
[25]白翔,毛玉明.基于M/G/1/K排队模型的IEEE 802.11e EDCA性能研究.电子与信息学报,2008,30(7):1610-1614.[doi:10.3724/SP.J.1146.2006.01926]
[2]IEEE standard for wireless access in vehicular environments(WAVE)-multi-channel operation.2011.http://ieeexplore.ieee.org/servlet/opac?punumber=5712767
[3]Wang Q,Leng S,Fu H,Zhang Y.An IEEE 802.11p-based multichannel MAC scheme with channel coordination for vehicular ad hoc networks.IEEE Trans.on Intelligent Transportation Systems,2012,13(2):449-458.[doi:10.1109/TITS.2011.2171951]
[4]Ma CM.Research on VANETs data transmission and intelligent safe driving in urban environment[Ph.D.Thesis].Chengdu:University of Electronic Science and Technology,2013(in Chinese with English abstract).
[5]Wu ZH,Hu P.Analysis on VANET routing protocol.Journal of Communications,2015,36(Z1):75-84(in Chinese with English abstract).[doi:10.11959/j.issn.1000-436x.2015284]
[6]Sadatpour V,Fathy M,Yousefi S,Rahmani AM,Cho ES,Choi MK.Scheduling algorithm for beacon safety message dissemination in vehicular ad-hoc networks.In:Proc.of the Int’l Conf.on Communication and Networking.Berlin:Springer-Verlag,2009,56:133-140.[doi:10.1007/978-3-642-10844-0_17]
[7]Abdelgader AMS,Wu L.The physical layer of the IEEE 802.11p WAVE communication standard:The specifications and challenges.In:Proc.of the World Congress on Engineering and Computer Science.2014.
[8]Han C,Dianati M,Tafazolli R,Kernchen R,Shen X.Analytical study of the IEEE 802.11p MAC sublayer in vehicular networks.IEEE Trans.on Intelligent Transportation Systems,2012,13(2):873-886.[doi:10.1109/TITS.2012.2183366]
[9]Shao C,Leng S,Zhang Y,Vinel A,Jonsson M.Analysis of connectivity probability in platoon-based vehicular ad hoc networks.In:Proc.of the Int’l Wireless Communications and Mobile Computing Conf.IEEE,2015.706-711.[doi:10.1109/IWCMC.2014.6906442]
[10]Ploeg J,Shukla DP,Wouw NVD,Nijmeijer H.Controller synthesis for string stability of vehicle platoons.IEEE Trans.on Intelligent Transportation Systems,2014,15(2):854-865.[doi:10.1109/TITS.2013.2291493]
[11]Jia D,Lu K,Wang J.A disturbance-adaptive design for VANET-enabled vehicle platoon.IEEE Trans.on Vehicular Technology,2014,63(2):527-539.[doi:10.1109/TVT.2013.2280721]
[12]Liu X,Goldsmith A,Mahal SS,Hedrick JK.Effects of communication delay on string stability in vehicle platoons.In:Proc.of the Intelligent Transportation Systems.IEEE,2001.625-630.[doi:10.1109/ITSC.2001.948732]
[13]Guo G,Wen S.Communication scheduling and control of a platoon of vehicles in VANETs.IEEE Trans.on Intelligent Transportation Systems,2015,17(6):1-13.[doi:10.1109/TITS.2015.2505407]
[14]Segata M,Bloessl B,Joerer S,Dressler F,Cigno RL.Supporting platooning maneuvers through IVC:An initial protocol analysis for the JOIN maneuver.In:Proc.of the 11th Annual Conf.on Wireless On-demand Network Systems and Services(WONS).Obergurgl,2014.130-137.[doi:10.1109/WONS.2014.6814733]
[15]Bernardo MD,Salvi A,Santini S.Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays.IEEE Trans.on Intelligent Transportation Systems,2015,16(1):102-112.[doi:10.1109/TITS.2014.2328439]
[16]Bernardo MD,Falcone P,Salvi A,Santini S.Design,analysis,and experimental validation of a distributed protocol for platooning in the presence of time-varying heterogeneous delays.IEEE Trans.on Control Systems Technology,2016,24(2):413-427.[doi:10.1109/TCST.2015.2437336]
[17]Amoozadeh M,Deng H,Chuah CN,Zhang HM,Ghosal D.Platoon management with cooperative adaptive cruise control enabled by VANET.Vehicular Communications,2015,2(2):110-123.[doi:http://dx.doi.org/10.1016/j.vehcom.2015.03.004]
[18]Xu L,Wang LY,Yin G,Zhang H.Communication information structures and contents for enhanced safety of highway vehicle platoons.IEEE Trans.on Vehicular Technology,2014,63:4206-4220.[doi:10.1109/TVT.2014.2311384]
[19]Shao C,Leng S,Fan B,Zhang Y,Vinel A,Jonsson M.Connectivity-aware medium access control in platoon-based vehicular ad hoc networks.In:Proc.of the IEEE Int’l Conf.on Communications(ICC).IEEE,2015.3305-3310.[doi:10.1109/ICC.2015.7248834]
[20]Fernandes P,Nunes U.Platooning with IVC-enabled autonomous vehicles:Strategies to mitigate communication delays,improve safety and traffic flow.IEEE Trans.on Intelligent Transportation Systems,2012,13(1):91-106.[doi:10.1109/TITS.2011.2179936]
[21]Du L,Dao H.Information dissemination delay in vehicle-to-vehicle communication networks in a traffic stream.IEEE Trans.on Intelligent Transportation Systems,2015,16(1):66-80.[doi:10.1109/TITS.2014.2326331]
[22]Jia DY,Zhang R,Lu KJ,Wang JP,Bi ZQ,Lei JS.Improving the uplink performance of drive-thru internet via platoon-based cooperative retransmission.IEEE Trans.on Vehicular Technology,2014,63(9):4536-4545.[doi:10.1109/TVT.2014.2315741]
[23]Peng H,Li D,Abboud K,Zhou HB,Zhao H,Zhuang WH,Shen XM.Performance analysis of IEEE 802.11p DCF for multiplatooning communications with autonomous vehicles.IEEE Trans.on Vehicular Technology,2016.1.[doi:10.1109/TVT.2016.2571696]
[24]Zheng Y,Lu K,Wu D,Fang Y.Performance analysis of IEEE 802.11 DCF in imperfect channels.IEEE Trans.on Vehicular Technology,2006,55(5):1648-1656.[doi:10.1109/TVT.2006.878606]
[25]Bai X,Mao YM.Performance investigation of IEEE 802.11e EDCA based on the M/G/1/K queue model.Journal of Electronics and Information,2008,30(7):1610-1614(in Chinese with English abstract).[doi:10.3724/SP.J.1146.2006.01926]
[26]Zhai H,Kwon Y,Fang Y.Performance analysis of IEEE 802.11 MAC protocols in wireless LANs.Wireless Communications and Mobile Computing,2004,4(8):917-931.[doi:10.1002/wcm.263]
[4]马春梅.城市环境VANETs数据传输及智能安全行驶研究[博士学位论文].成都:电子科技大学,2015.
[5]吴振华,胡鹏.VANET中路由协议分析.通信学报,2015,36(Z1):75-84.[doi:10.11959/j.issn.1000-436x.2015284]
[25]白翔,毛玉明.基于M/G/1/K排队模型的IEEE 802.11e EDCA性能研究.电子与信息学报,2008,30(7):1610-1614.[doi:10.3724/SP.J.1146.2006.01926]