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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Platooning Gap is Abnormal #125

Open qswawrq opened 6 years ago

qswawrq commented 6 years ago

During I-95 testing, we observed abnormal gaps when we are testing 0.84 time headway at 65mph. The gap between vehicles from front bumper to rear bumper should be around 20 meters. But from radar data, it seems that the gap drops to 5~10 meters at some time for the third and forth vehicle. gaps

qswawrq commented 6 years ago

The issue is caused by unpredictable DSRC latency. The following vehicle will not follow the actual leader vehicle by leader's current location. It is following a leader location in the past (in term of 0.1-0.2 second). No change is made to fix this issue.

darrelld05 commented 5 years ago

This issue was transferred from the original CARMAPlatform: Old issue # 926

TonysCousin commented 5 years ago

I suggest we add logic to account for the time lag between message generation and message reading, rather than assuming instantaneous transmission.