This study aims to analyze the impacts of perceptual anomalies on the mobility of connected autonomous vehicles (CAVs) and the performance of platoon. To achieve this, we establish a generalized model to describe the dynamics of CAVs with perceptual anomalies. Specifically, this model incorporates a bi-layer architecture to integrate various perceptual anomalies from both the vehicular and cyber layers, for capturing the cooperative nature of CAVs and the multifaceted features of perceptual anomalies. In particular, we introduce a dynamical communication scheme to characterize the communication topology changes of CAVs platoon when suffering perceptual anomalies. Subsequently, by using the intelligent driver model (IDM), we specify this model, upon which we conduct extensive simulation experiments to advance the understanding on the behaviors of CAVs and the dynamics of platoon under perceptual anomalies. The results show that perceptual anomalies, whether they originate from the vehicular layer or the cyber layer, can directly trigger the host CAV to accelerate or decelerate abruptly, indirectly leading to platoon oscillations. In some cases, the cooperation capacities of CAVs may degrade, and rear-end collisions may even occur within platoon. Furthermore, with extended durations of perceptual anomalies, there is an associated increase in the time required for CAVs platoon to normalize.


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    Title :

    Impacts Analysis of Perceptual Anomalies on Connected Autonomous Vehicles and Platoon


    Contributors:
    Li, Shihao (author) / Chen, Jingxu (author) / Zhou, Bojian (author) / Zhang, Yong (author)


    Publication date :

    2024-09-24


    Size :

    953282 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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