Risk of Cascading Collisions in Network of Vehicles With Delayed Communication

• 成果类型: Article
• 署名作者: Liu, Guangyi; Somarakis, Christoforos; Motee, Nader
• 署名单位: Lehigh University; Merck & Company; Merck & Company USA
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3640000
• 发表日期: 2026
• 关键词: LIMITATIONS; tradeoffs; STABILITY

摘要

This article establishes and explores a framework to analyze the risk of cascading failures in a platoon of autonomous vehicles, accounting for communication time-delays and input uncertainty. Our proposed framework yields closed-form expressions for cascading collisions, which we quantify using the coherent average value-at-risk (AV@R) to assess the cascading effect of vehicle collisions within the platoon. We investigate how factors such as network connectivity, system dynamics, communication delays, and uncertainty contribute to the emergence of cascading failures. Our findings are extended to standard communication graphs with symmetries, allowing us to evaluate the risk of cascading collisions from a platoon design perspective. Furthermore, by discovering the boundedness of the intervehicle distances, we reveal the best achievable risk of cascading collision with general graph topologies, which is further specified for special communication graph, such as the complete graph. Our theoretical results pave the way for the development of a safety-aware framework aimed at mitigating the risk of cascading collisions in vehicle platoons.