Speed limits in autonomous vehicular networks due to communication constraints
Autonomous vehicles need to be aware of other vehicles in their vicinity in order to avoid collisions and successfully perform their tasks. Such network awareness is ensured by exchanging location and control information over wireless radio channels. However, wireless interference constraints limit...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2018
|
| Online Access: | http://hdl.handle.net/1721.1/114754 https://orcid.org/0000-0002-6132-395X https://orcid.org/0000-0002-2225-7275 https://orcid.org/0000-0001-8238-8130 |
| _version_ | 1826207581242130432 |
|---|---|
| author | Talak, Rajat Rajendra Karaman, Sertac Modiano, Eytan H |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Talak, Rajat Rajendra Karaman, Sertac Modiano, Eytan H |
| author_sort | Talak, Rajat Rajendra |
| collection | MIT |
| description | Autonomous vehicles need to be aware of other vehicles in their vicinity in order to avoid collisions and successfully perform their tasks. Such network awareness is ensured by exchanging location and control information over wireless radio channels. However, wireless interference constraints limit the number of messages that can be exchanged between the vehicles. In this paper, we study the impact of such communication constraints on maximum vehicle speed in dense autonomous vehicular networks. We define hazard rate to be the fraction of time a vehicle enters an `uncertainty region', i.e., a region where there is a positive probability of other vehicles being present due to lack of situational awareness. We show that the hazard rate follows a threshold behavior with respect to maximum speed v as the network density n increases to infinity. We show that for a 2D network the hazard rate tends to 1, if the maximum speed v decreases slower than n[superscript -3/2]; and tends to 0, if v decreases faster than n[superscript -3/2]. For the network hazard rate, which is the fraction of time any vehicle enters its uncertainty region, the threshold is n[superscript -2]. Finally, we extend these results to a 3D network and show that the thresholds for the 3D network are larger than in the 2D network. |
| first_indexed | 2024-09-23T13:52:05Z |
| format | Article |
| id | mit-1721.1/114754 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:52:05Z |
| publishDate | 2018 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1147542022-10-01T17:38:05Z Speed limits in autonomous vehicular networks due to communication constraints Talak, Rajat Rajendra Karaman, Sertac Modiano, Eytan H Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Talak, Rajat Rajendra Karaman, Sertac Modiano, Eytan H Autonomous vehicles need to be aware of other vehicles in their vicinity in order to avoid collisions and successfully perform their tasks. Such network awareness is ensured by exchanging location and control information over wireless radio channels. However, wireless interference constraints limit the number of messages that can be exchanged between the vehicles. In this paper, we study the impact of such communication constraints on maximum vehicle speed in dense autonomous vehicular networks. We define hazard rate to be the fraction of time a vehicle enters an `uncertainty region', i.e., a region where there is a positive probability of other vehicles being present due to lack of situational awareness. We show that the hazard rate follows a threshold behavior with respect to maximum speed v as the network density n increases to infinity. We show that for a 2D network the hazard rate tends to 1, if the maximum speed v decreases slower than n[superscript -3/2]; and tends to 0, if v decreases faster than n[superscript -3/2]. For the network hazard rate, which is the fraction of time any vehicle enters its uncertainty region, the threshold is n[superscript -2]. Finally, we extend these results to a 3D network and show that the thresholds for the 3D network are larger than in the 2D network. 2018-04-17T15:21:22Z 2018-04-17T15:21:22Z 2016-12 2016-12 Article http://purl.org/eprint/type/ConferencePaper 978-1-5090-1837-6 http://hdl.handle.net/1721.1/114754 Talak, Rajat, Sertac Karaman, and Eytan Modiano. “Speed Limits in Autonomous Vehicular Networks Due to Communication Constraints.” 2016 IEEE 55th Conference on Decision and Control (CDC), 12-14 December, 2016, Las Vegas, Nevada, IEEE, 2016, pp. 4998-5003. https://orcid.org/0000-0002-6132-395X https://orcid.org/0000-0002-2225-7275 https://orcid.org/0000-0001-8238-8130 en_US http://dx.doi.org/10.1109/CDC.2016.7799033 2016 IEEE 55th Conference on Decision and Control (CDC) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Prof. Modiano |
| spellingShingle | Talak, Rajat Rajendra Karaman, Sertac Modiano, Eytan H Speed limits in autonomous vehicular networks due to communication constraints |
| title | Speed limits in autonomous vehicular networks due to communication constraints |
| title_full | Speed limits in autonomous vehicular networks due to communication constraints |
| title_fullStr | Speed limits in autonomous vehicular networks due to communication constraints |
| title_full_unstemmed | Speed limits in autonomous vehicular networks due to communication constraints |
| title_short | Speed limits in autonomous vehicular networks due to communication constraints |
| title_sort | speed limits in autonomous vehicular networks due to communication constraints |
| url | http://hdl.handle.net/1721.1/114754 https://orcid.org/0000-0002-6132-395X https://orcid.org/0000-0002-2225-7275 https://orcid.org/0000-0001-8238-8130 |
| work_keys_str_mv | AT talakrajatrajendra speedlimitsinautonomousvehicularnetworksduetocommunicationconstraints AT karamansertac speedlimitsinautonomousvehicularnetworksduetocommunicationconstraints AT modianoeytanh speedlimitsinautonomousvehicularnetworksduetocommunicationconstraints |