Samenvatting
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.
Originele taal-2 | Engels |
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Titel | 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 |
Plaats van productie | Piscataway |
Uitgeverij | Institute of Electrical and Electronics Engineers |
Pagina's | 1460-1465 |
Aantal pagina's | 6 |
ISBN van elektronische versie | 978-1-5386-7698-1 |
DOI's | |
Status | Gepubliceerd - 26 okt 2018 |
Evenement | 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denemarken Duur: 21 aug 2018 → 24 aug 2018 Congresnummer: 2 http://ccta2018.ieeecss.org/ |
Congres
Congres | 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 |
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Verkorte titel | CCTA 2018 |
Land | Denemarken |
Stad | Copenhagen |
Periode | 21/08/18 → 24/08/18 |
Internet adres |