Byzantine Consensus in Vehicle Platooningvia Inter-Vehicle Communication

Abstract

Cooperative driving and platooning have gained a growing focus recently. Letting vehicles to reach a consensus and make a joint decision is necessary for some applications. To address this problem, we propose a novel consensus protocol named BFT-ARM that fits real sensor values and can tolerate t(< n/3) Byzantine nodes out of n. BFT-ARM guarantees that the decision is close to the median of all good nodes. We also present the simulation framework ArteryLTE to evaluate our protocol.