Impact of Communication Frequency on Remote Control of Automated Vehicles
Paper in proceedings, 2018

This paper investigates the impact of the communication frequency on the remote control of automated vehicles. In particular, we consider a remote controller, which receives vehicles' state information and issues control commands based on a model predictive control (MPC) framework, to steer the vehicles to reach their respective target position intervals at given specific times. We present a framework where both state information (from the vehicles to the controller) and control actions (from the controller to the vehicles) are communicated through a wireless network. Due to limited communication resources and possible channel impairments, information is not necessarily always provided to the destination (either the controller or the vehicles). Herein, we particularly focus on the communications to the controller and investigate the effect of frequency and last instant of communication. Our results quantify the impact of these factors on the system performance, and subsequently, underline the need for an efficient resource allocation scheme.

Author

Mohammad Ali Nazari

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

Ayca Ozcelikkale

Uppsala University

Mario Zanon

IMT School for Advanced Studies Lucca

Themistoklis Charalambous

Aalto University

Jonas Sjöberg

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Henk Wymeersch

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC

96-100

29th IEEE Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)
Bologna, Italy,

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA, 2016-01-01 -- 2018-12-31.

Subject Categories

Telecommunications

Communication Systems

Control Engineering

DOI

10.1109/PIMRC.2018.8580853

ISBN

9781538660096

More information

Latest update

7/5/2019 1