Safety analysis of a vehicle equipped with Cooperative Adaptive Cruise Control

Jeroen A.J. Ligthart, Jeroen Ploeg, Elham Semsar-Kazerooni, Mauro Fusco, Henk Nijmeijer

Research output: Contribution to journalConference articleAcademicpeer-review

3 Citations (Scopus)
2 Downloads (Pure)

Abstract

Stability and string stability of platoons equipped with Cooperative Adaptive Cruise Control (CACC) is widely discussed in literature. However, safe behavior of a vehicle in a platoon, i.e., making sure that a vehicle is not involved in a collision with its preceding vehicle, is not considered to a large extent. This paper exploits techniques from invariant set theory to perform a safety analysis of vehicle behavior in a platoon. Here, regions in the state space are determined that guarantee safe behavior of a vehicle for all future time. These so-called safe sets are determined for CACC under various circumstances, in particular with and without wireless inter-vehicle communication. The proposed safety analysis framework supports real-time safety monitoring in vehicles.

Original languageEnglish
Pages (from-to)367-372
Number of pages6
JournalIFAC-PapersOnLine
Volume51
Issue number9
DOIs
Publication statusPublished - 1 Jan 2018

Keywords

  • Cooperative control
  • Invariant set theory
  • Safety analysis
  • Vehicle control

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