Journal of Shandong University(Engineering Science) ›› 2021, Vol. 51 ›› Issue (6): 84-92.doi: 10.6040/j.issn.1672-3961.0.2021.353

• Civil Engineering • Previous Articles    

Fault diagnosis of vehicle-to-vehicle communication in networked traffic environment

Haigen MIN1,2(),Yukun FANG1,*(),Xia WU1,2,Wuqi WANG1   

  1. 1. School of Information and Engineering, Chang′an University, Xi′an 710064, Shaanxi, China
    2. The Joint Laboratory for Internet of Vehicles, Ministry of Education-China Mobile Communications Corporation, Xi′an 710021, Shaanxi, China
  • Received:2021-07-05 Online:2021-12-20 Published:2022-01-19
  • Contact: Yukun FANG;


With vehicle platoon in intelligent transportation system as the background, this research established a vehicle platoon control model based on the intelligent driver model and analyzed the influence of delay in vehicle-to-vehicle communication on the stability of platoon control. A fault diagnosis method based on the update delay of vehicle-to-vehicle communication was proposed. The statistical characteristics of median and average were used to calculate the decision variables which were used to judge whether a fault had occurred. A two-layer sliding window was designed to smooth the decision variables and adaptively calculate the decision variable in real time. The Jarque-Bera algorithm was used to test the normality of the statistical distribution of the receiver's update delay within a period of time. If the distribution significantly deviated from the normal distribution, it was considered that the communication quality had deteriorated. Collecting vehicle speed data and vehicle-to-vehicle communication delay data at the testbed, simulations were conducted to analyze the statistical distribution characteristics of the vehicle-vehicle communication update delay in different scenarios and verify the influence on vehicle platoon control of vehicle-to-vehicle communication delay. The research results showed that the vehicle-to-vehicle communication delay caused drastic changes in the control rate during the collaborative control process. The communication fault diagnosis method based on the update delay could effectively diagnose whether the vehicle-to-vehicle communication quality had deteriorated.

Key words: intelligent transportation, connected and automated vehicles, update delay, adaptive threshold, statistical distribution of vehicle-to-vehicle communication, fault diagnosis of vehicle-to-vehicle communication

CLC Number: 

  • U495


Schematic of test platform and test field"

Table 1

Parameter settings of the IDM numerical simulation"

车辆数N/辆 期望行驶速度v0/(m·s-1) 期望的最小安全距离S0/m 期望车头时距Th/s 车身长度l/m 指数项δ 最大车辆加速度α/(m·s-2) 制动减速度β/(m·s-2)
6 10 10 1.2 2.5 4 2 1.5


Velocity profile and control law for each vehicle without communication faults"


Velocity profile and control law for each vehicle with communication faults"


Calculation for decision variable and fault diagnosis"


Distribution fitting of update delay in static and open environment"


Distribution fitting of update delay in static and open environment"

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