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An InterVehicle Communication Protocol for MultiVehicle Cooperation Based on RRALOHA
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PENG Xinronga,YANG Minga,XIE Qiangdea,WANG Binga,WANG Chunxiangb
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(a. Department of Automation; b. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
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Abstract A medium access control （MAC） protocol was proposed based on Reliable Reservation ALOHA (RRALOHA) in order to meet requirements of the multivehicle cooperative system for realtime, reliability and distributed property. The realtime capability of intervehicle communication was enhanced through dynamic time division multiple access (TDMA). The reliability and distributed property were enhanced through timeslot reservation and efficient broadcast mechanism. On this basis, multivehicle cooperation algorithms were designed based on intelligent vehicles, and cooperation scenes were implemented including platoon and overtaking. The experimental results proved the feasibility and reliability of the intervehicle communication protocol presented.
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Received: 20 January 2010
Published: 28 September 2010
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