Event-triggered control for improving the positioning accuracy of connected vehicles equipped with DSRC

Abstract

Vehicle-to-Vehicle communication and Dedicated Short Range Communication (DSRC) systems have gained an increasing popularity in building vehicular applications for improving road safety, but the high level of positioning accuracy at the centimetre level is still far from being achieved. Various outages in transmitting the positioning information between neighbouring vehicles and errors in broadcasting their current locations can lead to a fail in generating accurate collision alerts that would affect the road safety.The goal of this paper is to propose a modelling framework for applying an event-triggered control when the location transmitted by connected vehicles equipped with DSRC is lost due to unforeseen events. Firstly, we model the evolution of the DSRC transmitted positioning as a multi-state stochastic switching system by taking into consideration the distance from the transmitted location to the road center. A control interval is defined for the evolution of the positioning signal by using the road width to define the boundaries. Secondly, we propose an analytic method for determining the exit probabilities from the control interval, with the scope of anticipating any position anomalies and help applying the event triggered control in advance rather than when the control boundaries have been already reached. Thirdly, we apply a cooperative location estimation method for improving the broadcast position information by using the accumulating trajectory segments from the moment of the anomaly alert.