CUBA: Chained Unanimous Byzantine Agreement for Decentralized Platoon Management
Emanuel Regnatha and Sebastian Steinhorstb
Technical University of Munich, Germany
aemanuel.regnath@tum.de
bsebastian.steinhorst@tum.de
ABSTRACT
Autonomous driving, vehicle platoons and smart traffic management will dramatically improve our transportation systems. In contrast to centralized approaches, which do not scale efficiently with the actual traffic load, a decentralized traffic management based on distributed consensus could provide a robust, fair and well-scaling solution for infrastructures of variable density.
In this paper, we propose a distributed platoon management scheme, where platoon operations such as join or merge are decided by consensus over a Vehicular ad hoc network (VANET).
Since conventional consensus protocols are not suitable for Cyber-Physical Systems (CPS) such as platoons, we introduce CUBA, a new validated and verifiable consensus protocol especially tailored to platoons, which considers their special communication topology.
We demonstrate that CUBA only introduces a small communication overhead compared to the centralized, Leader-based approach and significantly outperforms related distributed approaches.
Keywords: V2V, VANET, Internet of Vehicles, Consensus.
