Analysis of the Influence of Information Flow Topology in Platoon Applications

  • Arthur D. M. Freitas UFPE
  • Francisco J. S. Coelho UFPE
  • Divanilson R. Campelo UFPE
  • Abel G. Silva-Filho UFPE


In a vehicle platoon, the Information Flow Topology consists of the structure and organization of the communication network that interconnects the vehicles. When there is a high Frame Error Rate in the communication network, the vehicle platoon can become unstable and put drivers and passengers at risk. This work investigates the influence of the Information Flow Topology on a platoon in scenarios with different speeds, acceleration and deceleration amplitude, and levels of packet loss. Simulation results demonstrated that the Predecessor Follower topology can maintain safety and a more accurate intervehicular distance even in nonideal vehicular communication scenarios.


Chen, X., Li, Y., and He, Q. (2020). Adaptive cooperative adaptive cruise control for platooning: A new approach. IEEE Transactions on Intelligent Transportation Systems.

Gao, W., Shi, Y., and Chen, S. (2019). Scalable platooning based on directed information flow topology with granulating method. IEEE Access, 7:176634-176645.

Ge, C., Liu, T., Gao, F., and Li, W. (2019a). Trajectory tracking control of vehicle platoon based on restricted leader-follower structure. IEEE Transactions on Intelligent Transportation Systems, 20(6):2133-2144.

Ge, H., Chen, M., and Zhang, Y. (2022a). Control of connected vehicles under communication constraints and external disturbances. IEEE Transactions on Intelligent Transportation Systems.

Ge, H., Liu, Y., Zhang, Y., and Chen, M. (2019b). Cooperative control of autonomous vehicle platoons using model predictive control. IEEE Transactions on Intelligent Transportation Systems.

Ge, X., Han, Q.-L., Ding, L., Wang, Y.-L., and Zhang, X.-M. (2020). Dynamic event-triggered distributed coordination control and its applications: A survey of trends and techniques. IEEE Trans. Syst. Man Cybern. Syst., 50(9):3112-3125.

Ge, X., Xiao, S., Han, Q.-L., Zhang, X.-M., and Ding, D. (2022b). Dynamic event-triggered scheduling and platooning control co-design for automated vehicles over vehicular ad-hoc networks. IEEE/CAA j. autom. sin., 9(1):31-46.

Khalifa, A., Kermorgant, O., Dominguez, S., and Martinet, P. (2021). Platooning of car-like vehicles in urban environments: Longitudinal control considering actuator dynamics, time delays, and limited communication capabilities. IEEE Trans. Control Syst. Technol., 29(6):2670-2677.

Leal, L., Arruda, J. R. F., and Giannakis, G. B. (2021). A decentralized protocol for platooning in connected and automated vehicles. IEEE Transactions on Intelligent Transportation Systems.

Li, Y., Zhong, Z., Song, Y., Sun, Q., Sun, H., Hu, S., and Wang, Y. (2022). Longitudinal platoon control of connected vehicles: Analysis and verification. IEEE Transactions on Intelligent Transportation Systems, 23(5):4225-4235.

Liu, T., Zhang, Y., Huang, J., Huang, B., and Chen, H.-H. (2019). Impact of information flow topology on performance of vehicle platoon under wireless communication channel noise. IEEE Access, 7:81859-81869.

Lopez, P. A., Wiessner, E., Behrisch, M., Bieker-Walz, L., Erdmann, J., Flotterod, Y.P., Hilbrich, R., Lucken, L., Rummel, J., and Wagner, P. (2018). Microscopic traffic simulation using SUMO. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC). IEEE.

Mena-Oreja, J. and Gozalvez, J. (2018). PERMIT a SUMO simulator for platooning maneuvers in mixed traffic scenarios. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC). IEEE.

Robinson, T., Chan, E., and E, C. (2010). Operating platoons on public motorways: An introduction to the sartre platooning programme. In 2010 17th World Congress on Intelligent Transport Systems (ITS). IEEE.

Rodonyi, G. (2018). An adaptive spacing policy guaranteeing string stability in multi-brand ad hoc platoons. IEEE Trans. Intell. Transp. Syst., 19(6):1902-1912.

Ruan, T., Wang, H., Zhou, L., Zhang, Y., Dong, C., and Zuo, Z. (2022). Impacts of information flow topology on traffic dynamics of CAV-MV heterogeneous flow. IEEE Trans. Intell. Transp. Syst., 23(11):20820-20835.

Santini, S., Salvi, A., Valente, A. S., Pescape, A., Segata, M., and Cigno, R. L. (2015). A consensus-based approach for platooning with inter-vehicular communications. In 2015 IEEE Conference on Computer Communications (INFOCOM). IEEE.

Segata, M., Joerer, S., Bloessl, B., Sommer, C., Dressler, F., and Cigno, R. L. (2014). Plexe: A platooning extension for veins. In 2014 IEEE Vehicular Networking Conference (VNC). IEEE.

Segata, M., Lo Cigno, R., Hardes, T., Heinovski, J., Schettler, M., Bloessl, B., Sommer, C., and Dressler, F. (2022). Multi-Technology Cooperative Driving: An Analysis Based on PLEXE. IEEE Transactions on Mobile Computing (TMC). to appear.

Sharma, A. and Murali, P. (2017). Behavior of small animals on fire. Manuscript submitted for publication.

Sommer, C., German, R., and Dressler, F. (2011). Bidirectionally coupled network and road traffic simulation for improved IVC analysis. IEEE Trans. Mob. Comput., 10(1):3-15.

Varga, A. (2010). OMNeT++. In Modeling and Tools for Network Simulation, pages 35-59. Springer Berlin Heidelberg, Berlin, Heidelberg.

WAVE (2010). Ieee standard for wireless access in vehicular environments (wave) networking services. IEEE Std 1609.3-2010 (Revision of IEEE Std 1609.3-2007), pages 1-212.

World Health Organization (2022). Road traffic injuries. Available at (2022-12-19).

Zhao, C., Cai, L., and Cheng, P. (2021a). Stability analysis of vehicle platooning with limited communication range and random packet losses. IEEE Internet Things J., 8(1):262-277.

Zhao, F., Liu, Y., Wang, J., and Wang, L. (2021b). Distributed model predictive longitudinal control for a connected autonomous vehicle platoon with dynamic information flow topology. Actuators, 10(9):204.

Zhu, P., Zhu, K., and Zhang, L. (2020). Security analysis of LTE-V2X and a platooning case study. In IEEE INFOCOM 2020 IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS). IEEE.
FREITAS, Arthur D. M.; COELHO, Francisco J. S.; CAMPELO, Divanilson R.; SILVA-FILHO, Abel G.. Analysis of the Influence of Information Flow Topology in Platoon Applications. In: SIMPÓSIO BRASILEIRO DE REDES DE COMPUTADORES E SISTEMAS DISTRIBUÍDOS (SBRC), 41. , 2023, Brasília/DF. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 113-126. ISSN 2177-9384. DOI:

Artigos mais lidos do(s) mesmo(s) autor(es)