Abstract
Visible Light Communication (VLC) is a new emerging technology that is being proposed as a reliable and supportive choice for short range communications in ITS. On the same context, Laser Range Finders (LRF) sensors are used for the vehicular environment perception. Compared to VLC, LRF can provide more coverage range and extended viewing angle. To take the full advantages of both technologies features, this paper studies and demonstrate the proposal of using VLC for information exchange among the platoon members and LRF for inter-vehicle distance estimation. A hand-over algorithm is proposed to manage the switching process for any failure occurrence by assessing LRF and VLC performance using three different metrics: LRF confidence value, vehicles angular orientation, and the VLC link latency. The evaluation of the proposed system is verified using VLC prototype and Pro- SiVIC Simulator driving platoon of two autonomous vehicles over different curvature scenarios. Our results show that the proposed combination are extending the VLC limitations and satisfying the platooning requirement. However, in the very sharp curvature, LRF was capable of driving the platoon except for the 90° curve scenario, the system experienced non-stable behaviour due to the LRF area of interest limitation.
Highlights
Intelligent transport systems (ITS) can provide more safe and secure traffic by properly utilizing the information technology
We studied a combined solution using laserbased perception and visible light communication for platooning, where we proposed a hand-over algorithm profiting from both technologies
That Laser Range Finders (LRF) and Visible Light Communication (VLC) are independent of each other and provide a different type of information, the trajectory shape and vehicles orientation has a direct influence on both technologies
Summary
Intelligent transport systems (ITS) can provide more safe and secure traffic by properly utilizing the information technology. Such configuration intends to utilize both technologies to ensure platoon application safety requirements. We concentrate on observing the overall platoon behaviour for different trajectory scenarios, intended to drive the VLC link to its FOV limits by introducing communication failure and evaluate the limits of our system. In this particular scenes, our study highlights the switching modes between the presence of VLC and disconnections cases, in other words, the availability of CACC and ACC, recognising the platoon minimum safety requirements.
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