Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles
Road obstacles that unexpectedly appear due to vehicle breakdowns and accidents are major causes of fatal road accidents. Connected Autonomous Vehicles (CAVs) can be used to avoid collisions to ensure road safety through cooperative sensing and driving. However, the collision avoidance performance o...
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2024-12-01
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| Series: | Digital Communications and Networks |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2352864823001050 |
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| author | Hao Du Supeng Leng Jianhua He Kai Xiong Longyu Zhou |
| author_facet | Hao Du Supeng Leng Jianhua He Kai Xiong Longyu Zhou |
| author_sort | Hao Du |
| collection | DOAJ |
| description | Road obstacles that unexpectedly appear due to vehicle breakdowns and accidents are major causes of fatal road accidents. Connected Autonomous Vehicles (CAVs) can be used to avoid collisions to ensure road safety through cooperative sensing and driving. However, the collision avoidance performance of CAVs with unexpected obstacles has not been studied in the existing works. In this paper, we first design a platoon-based collision avoidance framework for CAVs. In this framework, we deploy a Digital Twin (DT) system at the head vehicle in a platoon to reduce communication overhead and decision-making delay based on a proposed trajectory planning scheme. In addition, a DT-assistant system is deployed on the assistant vehicle to monitor vehicles out of the sensing range of the head vehicle for the maintenance of the DT system. In this case, the transmission frequency of kinetic states of platoon members can be reduced to ensure low-overhead communication. Moreover, we design a variable resource reservation interval that can ensure DT synchronization between DT and the assistant system with high reliability. To further improve road safety, an urgency level-based trajectory planning algorithm is proposed to avoid unexpected obstacles considering different levels of emergency risks. Simulation results show that our DT system-based scheme can achieve significant performance gains in unexpected obstacle avoidance. Compared to the existing schemes, it can reduce collisions by 95% and is faster by about 10% passing by the unexpected obstacle. |
| format | Article |
| id | doaj-art-10d3a6dbb3b745cbb82e05c200cb40d5 |
| institution | Kabale University |
| issn | 2352-8648 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Digital Communications and Networks |
| spelling | doaj-art-10d3a6dbb3b745cbb82e05c200cb40d52024-12-29T04:47:32ZengKeAi Communications Co., Ltd.Digital Communications and Networks2352-86482024-12-0110616661676Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstaclesHao Du0Supeng Leng1Jianhua He2Kai Xiong3Longyu Zhou4School of Information & Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Information & Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China; Corresponding author.School of Computer Science and Electronic Engineering, University of Essex, Colchester CO4 3SQ, United KingdomSchool of Information & Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China; Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China, Shenzhen 518110, ChinaSchool of Information & Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaRoad obstacles that unexpectedly appear due to vehicle breakdowns and accidents are major causes of fatal road accidents. Connected Autonomous Vehicles (CAVs) can be used to avoid collisions to ensure road safety through cooperative sensing and driving. However, the collision avoidance performance of CAVs with unexpected obstacles has not been studied in the existing works. In this paper, we first design a platoon-based collision avoidance framework for CAVs. In this framework, we deploy a Digital Twin (DT) system at the head vehicle in a platoon to reduce communication overhead and decision-making delay based on a proposed trajectory planning scheme. In addition, a DT-assistant system is deployed on the assistant vehicle to monitor vehicles out of the sensing range of the head vehicle for the maintenance of the DT system. In this case, the transmission frequency of kinetic states of platoon members can be reduced to ensure low-overhead communication. Moreover, we design a variable resource reservation interval that can ensure DT synchronization between DT and the assistant system with high reliability. To further improve road safety, an urgency level-based trajectory planning algorithm is proposed to avoid unexpected obstacles considering different levels of emergency risks. Simulation results show that our DT system-based scheme can achieve significant performance gains in unexpected obstacle avoidance. Compared to the existing schemes, it can reduce collisions by 95% and is faster by about 10% passing by the unexpected obstacle.http://www.sciencedirect.com/science/article/pii/S2352864823001050Platoon drivingCooperative trajectory planningDigital twinObstacle avoidance |
| spellingShingle | Hao Du Supeng Leng Jianhua He Kai Xiong Longyu Zhou Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles Digital Communications and Networks Platoon driving Cooperative trajectory planning Digital twin Obstacle avoidance |
| title | Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| title_full | Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| title_fullStr | Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| title_full_unstemmed | Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| title_short | Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| title_sort | digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles |
| topic | Platoon driving Cooperative trajectory planning Digital twin Obstacle avoidance |
| url | http://www.sciencedirect.com/science/article/pii/S2352864823001050 |
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