Controller design for cooperative driving with guaranteed safe behavior

Jeroen Ligthart, E. Semsar-Kazerooni, Jeroen Ploeg, Mohsen Alirezaei, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages1460-1465
Number of pages6
ISBN (Electronic)978-1-5386-7698-1
DOIs
Publication statusPublished - 26 Oct 2018
Event2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
Duration: 21 Aug 201824 Aug 2018
Conference number: 2
http://ccta2018.ieeecss.org/

Conference

Conference2nd IEEE Conference on Control Technology and Applications, CCTA 2018
Abbreviated titleCCTA 2018
CountryDenmark
CityCopenhagen
Period21/08/1824/08/18
Internet address

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