Fault tolerancy in cooperative adaptive cruise control

E. van Nunen, J. Ploeg, A.M. Medina, H. Nijmeijer

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

15 Citations (Scopus)
1 Downloads (Pure)


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.
Original languageEnglish
Title of host publicationProceedings of the 16th International IEEE Annual Conference on Intelligent Transportation Systems
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)978-1-4799-2914-6
ISBN (Print)978-1-4799-2915-3
Publication statusPublished - 1 Oct 2013
Event16th International IEEE Conference on Intelligent Transportation Systems, ITSC 2013 - Kurhaus, The Hague, Netherlands
Duration: 6 Oct 20139 Oct 2013
Conference number: 16


Conference16th International IEEE Conference on Intelligent Transportation Systems, ITSC 2013
Abbreviated titleITSC 2013
CityThe Hague


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