A FaultTolerant Controller Manager for Platooning Simulation Recent development in wireless technology enabling communication between vehicles led to introduction of the concept of Cooperative Adaptive Cruise Control (CACC), which uses wireless vehicletovehicle communication and aims at string stable behavior in a platoon of vehicles. Degradation cascades have been proposed as a way to maintain a certain level of the system functionality in presence of failures. Such degradation behaviour is usually controlled by a runtimestate manager that performs fault detection and transitions the system into states where it will remain acceptably safe. In this paper, we propose a dynamic controller manager that focuses on both safety and performance of the system. In particular, it monitors the channel quality within the platoon and reacts by degrading platoon performance in presence of communication failures, or upgrading the performance when the communication quality is high enough. The reaction can include, e.g., adjusting the intervehicle distance or switching to another suitable platoon controller to prevent collisions. We focus on the functional and operational safety and evaluate the performance of the dynamic controller manager under different scenarios and settings in simulation experiments to demonstrate that it can avoid rearend collisions in a platoon, continue platooning operation even in dense traffic scenarios where the stateoftheart controllers fail to do so.

Decentralized Dynamic Platooning Architecture with V2V Communication Tested in Omnet An open question in platooning is the appropriate selection of the intervehicle distance: shorter distances reduce energy, but increase network demands, which have to be satisfied to guarantee safety. Even once determined appropriately, intervehicle distances need to adapt for varying traffic scenarios and heterogeneous platoons. Therefore, we introduce a new architecture that puts dynamic distances into effect and manages platoons in a decentralized way to maintain safety and robustness by considering network reliability, environmental, and vehicular constraints. Smooth trajectory planning allows energy efficient and comfortable adaptation of distances between vehicles. The presented architecture is tested using Omnet and SUMO in a highway entry and an emergency braking scenario.