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 language | English |
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Title of host publication | 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 1460-1465 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-5386-7698-1 |
DOIs | |
Publication status | Published - 26 Oct 2018 |
Event | 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark Duration: 21 Aug 2018 → 24 Aug 2018 Conference number: 2 http://ccta2018.ieeecss.org/ |
Conference
Conference | 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 |
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Abbreviated title | CCTA 2018 |
Country/Territory | Denmark |
City | Copenhagen |
Period | 21/08/18 → 24/08/18 |
Internet address |