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    Stochastic Velocity Prediction for Connected Vehicles Considering V2V Communication Interruption
    (Ieee-Inst Electrical Electronics Engineers Inc, 2023) Wang, Lihua; Zhang, Fengqi; Cui, Yahui; Coskun, Serdar; Tang, Xiaolin; Yang, Yalian; Hu, Xiaosong
    Reliable and accurate velocity prediction can significantly contribute to the quality of connected vehicle control applications. Existing efforts focus on the velocity prediction without considering vehicle-to-vehicle (V2V) communication interruption. Hence, a stochastic velocity prediction method for connected vehicles considering V2V communication interruption is put forward for the first time. The missing V2V communication data are addressed by the piecewise cubic Hermite spline interpolation. Then, the processed data are used as the input variables of the best conditional linear Gaussian (CLG) prediction model. Specifically, the best CLG model is obtained by analyzing the influence of different input variables on the velocity prediction without V2V communication interruption. The results demonstrate that the prediction accuracy of CLG-based model is acceptable if the communication interruption time is less than 5 s compared to the non-interrupted V2V communication case. The sensitivity study of the best CLG model under multiple vehicles scenario indicates that choosing appropriate historical data substantially improve the prediction accuracy. Furthermore, the CLG-based predictor is proved to be an effective method to achieve higher prediction accuracy in two test road networks when compared with the Back-propagation and Long Short-Term Memory network.