Safety analysis of a vehicle equipped with Cooperative Adaptive Cruise Control
article
Stability and string stability of platoons equipped with Cooperative Adaptive Cruise Control (CACC) is widely discussed in literature. However, safe behavior of a vehicle in a platoon, i.e., making sure that a vehicle is not involved in a collision with its preceding vehicle, is not considered to a large extent. This paper exploits techniques from invariant set theory to perform a safety analysis of vehicle behavior in a platoon. Here, regions in the state space are determined that guarantee safe behavior of a vehicle for all future time. These so-called safe sets are determined for CACC under various circumstances, in particular with and without wireless inter-vehicle communication. The proposed safety analysis framework supports real-time safety monitoring in vehicles.
TNO Identifier
955029
ISSN
24058963
Source
IFAC-PapersOnLine, 51(9), pp. 367-372.
Publisher
IFAC
Source title
15th IFAC Symposium on Control in Transportation Systems, June 6-8, 2018, Savona, Italy
Collation
6 p.
Pages
367-372
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