A Dynamic Evolution Model for Decentralized Autonomous Car Clusters in a Highway Scene

Cluster evolution is a challenging problem for vehicular ad hoc network (VANET) in a highway scene with fast moving autonomous vehicles and frequent cluster topology changes. Most of the existing studies analyze the cluster evolution behavior of cluster heads (CHs), and these approaches lead to frequent changes in vehicle structure when CHs change, which easily makes the cluster unstable. In this work, we propose a decentralized autonomous car cluster dynamic evolution model. First, we define a decentralized cluster structure. Then, we analyze the cluster evolution behavior and propose a maintenance method. Next, we define eight vehicle states and their transitions. Finally, we introduce the cluster dynamic evolution model and the collaboration model. The results of extensive simulation experiments show that our method can effectively maintain the consistency of cluster consensus and improve the stability of the cluster structure compared with the centralized cluster maintenance method.

I. Introduction

Autonomous car clusters have become one of the main research areas of vehicular ad hoc network (VANET) as more and more autonomous vehicles with computer program applications are starting to be deployed into the vehicle environment as smart driving develops [1]. The basic concept behind VANET is that vehicles can automatically connect to establish a mobile network by exchanging speed, position, and other information and data observed by on-board sensors with other vehicles within a certain communication range. It offers enormous potential for traffic accident warning [2], traffic flow control [3], providing drivers with information services [4], and value-added services [5].