Controller design for cooperative driving with guaranteed safe behavior

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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

2 Citaten (Scopus)

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-2Engels
Titel2018 IEEE Conference on Control Technology and Applications, CCTA 2018
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's1460-1465
Aantal pagina's6
ISBN van elektronische versie978-1-5386-7698-1
DOI's
StatusGepubliceerd - 26 okt 2018
Evenement2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denemarken
Duur: 21 aug 201824 aug 2018
Congresnummer: 2
http://ccta2018.ieeecss.org/

Congres

Congres2nd IEEE Conference on Control Technology and Applications, CCTA 2018
Verkorte titelCCTA 2018
LandDenemarken
StadCopenhagen
Periode21/08/1824/08/18
Internet adres

    Vingerafdruk

Citeer dit

Ligthart, J., Semsar-Kazerooni, E., Ploeg, J., Alirezaei, M., & Nijmeijer, H. (2018). Controller design for cooperative driving with guaranteed safe behavior. In 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 (blz. 1460-1465). [8511625] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CCTA.2018.8511625