Controller Design for Cooperative Driving with Guaranteed Safe Behavior

Controller Design for Cooperative Driving with Guaranteed Safe Behavior

Ligthart, J.
Semsar-Kazerooni, E.
Ploeg, J.
Alirezaei, M.
Nijmeijer, H.

2018

A shortcoming of many Cooperative Adaptive Cruise Control (CACC) schemes is the lack of a guarantee of safe vehicle behavior in a platoon, i.e., making sure that a vehicle does not collide with its preceding vehicle in case the latter performs a deceleration outside the operational range of the CACC system. To overcome that problem, this paper presents a controller design which has a Collision Avoidance (CA) functionality to guarantee safe vehicle behavior. When the vehicle is in a safe operational region, the nominal controller is applied, which can be designed independent of the CA function. However, when the nominal controller cannot guarantee a safe behavior, a predefined gradual braking strategy is imposed. Enforcing a gradual braking strategy instead of prompt full braking has the benefit that if a safety-critical situation resolves itself quickly, full braking is not applied. The controller scheme is illustrated in a simulation study, which shows that, as a result, the vehicles behave safely, even when the preceding vehicle instantly applies full braking. © 2018 IEEE.

Adaptive control systems
Adaptive cruise control
Braking
Safety engineering
Vehicles
Braking strategies
Controller designs
Cooperative adaptive cruise control
Cooperative driving
Nominal controller
Operational range
Operational regions
Simulation studies
Controllers

http://resolver.tudelft.nl/uuid:54527915-6530-472e-ad30-946daf3c236b

843674

Institute of Electrical and Electronics Engineers Inc.

9781538676981

2nd IEEE Conference on Control Technology and Applications, CCTA 2018, 21 August 2018 through 24 August 2018, 1460-1465

8511625

Conference Paper IEEE Control Systems Society

conference paper