Title
Fault tolerancy in Cooperative Adaptive Cruise Control
Author
van Nunen, E.
Ploeg, J.
Morales Medina, A.
Nijmeijer, H.
Publication year
2013
Abstract
Future mobility requires sound solutions in the field of fault tolerance in real-time applications amongst which Cooperative Adaptive Cruise Control (CACC). This control system cannot rely on the driver as a backup and is constantly active and therefore more prominent to the occurrences of faults (such as packet loss in the wireless communication). This paper presents an algorithm which uses the availability of sensor-data in each moment in time to calculate in real-time a safe distance for the CACC system. This safe distance consists of a velocity dependent part and a constant part, both important settings in the spacing policy for the CACC. A critical scenario for which CACC should still be functional is chosen, mathematical models of the system response are derived and errors are modeled. The model enables the calculation of differences in braking distances, which leads to a required safe distance. This approach makes the dynamic algorithm useful for sensor faults. The algorithm is implemented in a test vehicle and test results are presented. © 2013 IEEE.
Subject
Mechatronics, Mechanics & Materials
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Mobility
CACC
Cooperative Adaptive Cruise Control
Cooperative Driving
Fault Tolerance
To reference this document use:
http://resolver.tudelft.nl/uuid:1ceb1919-7e00-4bfd-bfce-af63291e0353
TNO identifier
493014
ISBN
9781479929146
Source
16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013, 6-9 October 2013, The Hague, The Netherlands, 1184-1189
Article number
6728393
Document type
conference paper