Cooperative vehicular platooning: a multi-dimensional survey towards enhanced safety, security and validation

ABSTRACT

Cooperative Vehicular Platooning (Co-VP) is a prime example of Cooperative Cyber-Physical Systems (Co-CPS), offering great potential for enhancing road safety by reducing human involvement in driving. However, this domain presents significant challenges, incorporating control theory, communications, vehicle dynamics, security, and traffic engineering. This survey explores recent advancements in Co-VP, covering control strategies, communication infrastructures, and cybersecurity. It also examines testing and validation methods, such as simulation tools, hardware-in-the-loop setups, and vehicular testbeds. Lastly, it outlines open challenges within the Co-VP field. This comprehensive overview serves as a guide for further developments in this complex and critical area.

KEYWORDS:

• Cyber-physical systems
• Co-VP
• Vehicular networks
• Control models
• Platooning validation
• Safety and security

Acknowledgments

This work was partially supported by National Funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UIDP/UIDB/04234/2020); by the FCT and the Portuguese National Innovation Agency (ANI), under the CMU Portugal partnership, through the European Regional Development Fund (ERDF) of the Operational Competitiveness Programme and Internationalization (COMPETE 2020), under the PT2020 Partnership Agreement, within project FLOYD (grant nr. 45912); by the NORTE-01-0145-FEDER-000044 project, supported by Northern Portugal Regional Operational Programme (Norte2020), under the Portugal 2020 Partnership Agreement, through the European Regional Development Fund (FEDER); and by FCT and the EU ECSEL JU under the H2020 Framework Programme, within project ECSEL/0010/2019, JU grant nr. 876019 (ADACORSA). The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Germany, Netherlands, Austria, France, Sweden, Cyprus, Greece, Lithuania, Portugal, Italy, Finland, Turkey. The ECSEL JU and the European Commission are not responsible for the content on this paper or any use that may be made of the information it contains.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

The work was supported by the Fundação para a Ciência e a Tecnologia [876019].

Notes on contributors

Ênio Vasconcelos Filho

Ênio Vasconcelos Filho is currently Assistant Professor at the Federal Institute of Goias (IFG). Since 2018, he has been carrying out his Ph.D. in Electrical and Computer Engineering at the University of Porto (FEUP), Portugal. He joined the CISTER Research Unit in 2018, working with Cyber-Physical Cooperative Systems, notably in vehicular communications. He has a BSc degree in Automation and Control (2006) and an M.Sc. degree in Mechatronics Systems (2012), both from Universidade de Brasilia (UnB). His most significant interests are autonomous vehicles, communication networks, and artificial intelligence in real-time applications.

Ricardo Severino

Ricardo Severino holds a Ph.D. (2015) in Electrical and Computer Engineering from the University of Porto, Portugal. He also holds a B.Sc. (2004), a Licentiate (2006), and a M.Sc. (2008) degree in Electric and Computer Engineering from the Polytechnic Institute of Porto – School of Engineering, Portugal. He has extensive work in the areas of WSANs, namely in improving Quality-of-Service for large-scale WSN and IoT infrastructures, and on cooperating cyber-physical systems, with particular emphasis on vehicular systems. He served as a reviewer at several IEEE/ACM conferences and Journals (IEEE Transactions on Industrial Informatics, ACM TSN, Springer Real Time systems Journal (TIME), IEEE Access, Hindawi International Journal of Distributed Sensor Networks, MDPI Sensors among others.

Pedro M. Salgueiro dos Santos

Pedro M. Santos received his B.Sc. and M.Sc. degrees in Electrical and Computer Engineering from the University of Porto in 2009, and the Ph.D. in 2017 in the same field and institution, in collaboration with the Instituto de Telecomunicações (Portuguese R&D institution). Pedro has been a Ph.D student and post-doctoral researcher in numerous national (P2020), European (FP7) and international projects (CMU—Portugal program), and a visitor to the Carnegie Mellon University for three months (through the CMU—PT Vital Responder project). Pedro is a reviewer for a number of forums on communications and networking (IEEE TWC, VNC, VTC, among others) and served or serves as TPC member for IEEE VNC, WCFS and EAI Future5V. Pedro is currently holding positions as assistant researcher at CISTER and as invited assistant lecturer at the University of Porto. His research interests are in wireless propagation, vehicular networking, and Internet-of-Things for smart cities.

Anis Koubaa

Anis Koubaa is a Professor in Computer Science, Advisor to the Rector of Research Governance, Director of the Research and Initiatives Center, and Director of the Robotics and Internet of Things Research Lab, in Prince Sultan University. He is also a Senior Researcher in CISTER/INESC TEC and ISEP-IPP, Porto, Portugal. He is also a Senior Fellow of the Higher Education Academy (HEA) in the UK. He received several distinctions and awards including the Rector Research Award in 2010 at Al-Imam Mohamed bin Saud University and the Rector Teaching Award in 2016 at Prince Sultan University. He is on the list of top 2

Eduardo Tovar

Eduardo Tovar received the Licentiate, MSc and PhD degrees in electrical and computer engineering from the University of Porto, Porto, Portugal, in 1990, 1995 and 1999, respectively. Currently he his Professor in the Computer Engineering Department at the School of Engineering (ISEP) of Polytechnic Institute of Porto (P.Porto), where he is also engaged in research on real-time distributed systems, wireless sensor networks, multiprocessor systems, cyber-physical systems and industrial communication systems. He heads the CISTER Labs, an internationally renowned research centre focusing on RTD in real-time and embedded computing systems. He is currently the Vice-chair of ACM SIGBED and is member of the Executive Committee of the IEEE Technical Committee on Real-Time Systems (TC-RTS). He is currently deeply involved in the core team setting-up a Collaborative (industry-academic) Lab on Cyber-Physical Systems and Cyber-Security Systems.