Incorporating Follower-Initiated Dynamics Within Adaptive Beaconing for Platooning Safety

Laghbi, H; Thomas, N

doi:10.1007/978-3-032-29105-9_7

Incorporating Follower-Initiated Dynamics Within Adaptive Beaconing for Platooning Safety

Lookup NU author(s): Hassan Laghbi ORCiD, Dr Nigel Thomas ORCiD

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Abstract

Leader-centric adaptive beaconing reduces wireless congestion in cooperative vehicle platoons by lowering periodic vehicle-to-vehicle beacon rates, but it assumes that relevant longitudinal disturbances originate at the leader. We show that one such protocol, Jerk Beaconing (JB), can become unsafe when a follower initiates an unplanned slowdown or stop, because the leader is not promptly informed and stale references propagate, causing rapid gap closure and vehicle crashes. We propose JB Extension (JBE), a lightweight event-layer extension to JB, in which followers detect locally initiated deceleration and send upstream event beacons requesting a stop, a slowdown to a target speed, or a revert. The leader applies the request and continues jerk-triggered beaconing to disseminate the updated reference. In simulation, JBE eliminates the crashes observed with JB, preserves PATH CACC string stability, and increases channel busy ratio (CBR) only slightly.