Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning

Gangchuan Xu; Jianshan Zhou; Daxin Tian; Chenghao Ren; Xuting Duan; Zhengguo Sheng

doi:10.1109/ICUS55513.2022.9987102

Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning

Gangchuan Xu
, Jianshan Zhou^*
, Daxin Tian
, Chenghao Ren
, Xuting Duan
, Zhengguo Sheng

^*Corresponding author for this work

Beihang
Ltd.
University of Sussex

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Motion planning and vehicular communication are two enabling technologies for the practical realization of connected autonomous vehicles (CAVs), However, few studies have recently provided an effective systematic design from a joint optimization perspective. In our research, we present an optimization system that joins the reliability-oriented cellular vehicle-to-infrastructure communication (V2I) and the multi-objective motion planning into a model predictive control (MPC) model. We propose a stochastic model characterizing the V2I communication reliability and an optimization cost function for the motion planning of a CAV regarding control energy consumption, mobility efficiency, and smoothness. The system model is to maximize the V2I communication reliability meanwhile minimizing the motion cost by jointly optimizing the velocity and data transmission of the vehicle. Using an E-constraint method, we transform the multi-objective optimization model into a tractable problem and propose a numerical optimization algorithm to solve it. Simulation results demonstrate the validity of our joint optimization method for reliability-guaranteed vehicular communication and optimal motion planning and its performance outperforms several baselines.

Original language	English
Title of host publication	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	629-634
Number of pages	6
ISBN (Electronic)	9781665484565
DOIs	https://doi.org/10.1109/ICUS55513.2022.9987102
State	Published - 2022
Externally published	Yes
Event	2022 IEEE International Conference on Unmanned Systems, ICUS 2022 - Guangzhou, China Duration: 28 Oct 2022 → 30 Oct 2022

Publication series

Name	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

Conference

Conference	2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Country/Territory	China
City	Guangzhou
Period	28/10/22 → 30/10/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

data transmission scheduling
motion planning
vehicle control
vehicle-to-infrastructure communication (V2I)

Access to Document

10.1109/ICUS55513.2022.9987102

Cite this

Xu, G., Zhou, J., Tian, D., Ren, C., Duan, X., & Sheng, Z. (2022). Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning. In R. Song (Ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 (pp. 629-634). (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS55513.2022.9987102

Xu, Gangchuan ; Zhou, Jianshan ; Tian, Daxin et al. / Reliability-Aware Vehicular Communication and Mobility Optimization : Joint Data Transmission Scheduling and Motion Planning. Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. editor / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 629-634 (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022).

@inproceedings{9e57f916ffbf4ac6a0df5f134219d0d6,

title = "Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning",

abstract = "Motion planning and vehicular communication are two enabling technologies for the practical realization of connected autonomous vehicles (CAVs), However, few studies have recently provided an effective systematic design from a joint optimization perspective. In our research, we present an optimization system that joins the reliability-oriented cellular vehicle-to-infrastructure communication (V2I) and the multi-objective motion planning into a model predictive control (MPC) model. We propose a stochastic model characterizing the V2I communication reliability and an optimization cost function for the motion planning of a CAV regarding control energy consumption, mobility efficiency, and smoothness. The system model is to maximize the V2I communication reliability meanwhile minimizing the motion cost by jointly optimizing the velocity and data transmission of the vehicle. Using an E-constraint method, we transform the multi-objective optimization model into a tractable problem and propose a numerical optimization algorithm to solve it. Simulation results demonstrate the validity of our joint optimization method for reliability-guaranteed vehicular communication and optimal motion planning and its performance outperforms several baselines.",

keywords = "data transmission scheduling, motion planning, vehicle control, vehicle-to-infrastructure communication (V2I)",

author = "Gangchuan Xu and Jianshan Zhou and Daxin Tian and Chenghao Ren and Xuting Duan and Zhengguo Sheng",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 ; Conference date: 28-10-2022 Through 30-10-2022",

year = "2022",

doi = "10.1109/ICUS55513.2022.9987102",

language = "英语",

series = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "629--634",

editor = "Rong Song",

booktitle = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

address = "美国",

}

Xu, G, Zhou, J , Tian, D, Ren, C, Duan, X & Sheng, Z 2022, Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning. in R Song (ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 629-634, 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Guangzhou, China, 28/10/22. https://doi.org/10.1109/ICUS55513.2022.9987102

Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning. / Xu, Gangchuan; Zhou, Jianshan ; Tian, Daxin et al.
Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2022. p. 629-634 (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Reliability-Aware Vehicular Communication and Mobility Optimization

T2 - 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

AU - Xu, Gangchuan

AU - Zhou, Jianshan

AU - Tian, Daxin

AU - Ren, Chenghao

AU - Duan, Xuting

AU - Sheng, Zhengguo

PY - 2022

Y1 - 2022

N2 - Motion planning and vehicular communication are two enabling technologies for the practical realization of connected autonomous vehicles (CAVs), However, few studies have recently provided an effective systematic design from a joint optimization perspective. In our research, we present an optimization system that joins the reliability-oriented cellular vehicle-to-infrastructure communication (V2I) and the multi-objective motion planning into a model predictive control (MPC) model. We propose a stochastic model characterizing the V2I communication reliability and an optimization cost function for the motion planning of a CAV regarding control energy consumption, mobility efficiency, and smoothness. The system model is to maximize the V2I communication reliability meanwhile minimizing the motion cost by jointly optimizing the velocity and data transmission of the vehicle. Using an E-constraint method, we transform the multi-objective optimization model into a tractable problem and propose a numerical optimization algorithm to solve it. Simulation results demonstrate the validity of our joint optimization method for reliability-guaranteed vehicular communication and optimal motion planning and its performance outperforms several baselines.

AB - Motion planning and vehicular communication are two enabling technologies for the practical realization of connected autonomous vehicles (CAVs), However, few studies have recently provided an effective systematic design from a joint optimization perspective. In our research, we present an optimization system that joins the reliability-oriented cellular vehicle-to-infrastructure communication (V2I) and the multi-objective motion planning into a model predictive control (MPC) model. We propose a stochastic model characterizing the V2I communication reliability and an optimization cost function for the motion planning of a CAV regarding control energy consumption, mobility efficiency, and smoothness. The system model is to maximize the V2I communication reliability meanwhile minimizing the motion cost by jointly optimizing the velocity and data transmission of the vehicle. Using an E-constraint method, we transform the multi-objective optimization model into a tractable problem and propose a numerical optimization algorithm to solve it. Simulation results demonstrate the validity of our joint optimization method for reliability-guaranteed vehicular communication and optimal motion planning and its performance outperforms several baselines.

KW - data transmission scheduling

KW - motion planning

KW - vehicle control

KW - vehicle-to-infrastructure communication (V2I)

UR - https://www.scopus.com/pages/publications/85146491040

U2 - 10.1109/ICUS55513.2022.9987102

DO - 10.1109/ICUS55513.2022.9987102

M3 - 会议稿件

AN - SCOPUS:85146491040

T3 - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

SP - 629

EP - 634

BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

A2 - Song, Rong

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 28 October 2022 through 30 October 2022

ER -

Xu G, Zhou J , Tian D, Ren C, Duan X, Sheng Z. Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning. In Song R, editor, Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 629-634. (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022). doi: 10.1109/ICUS55513.2022.9987102

Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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