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

Uittreksel

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

Controller Design
Cooperative Control
Collision Avoidance
Braking
Controller
Adaptive Control
Controllers
Categorical or nominal
Adaptive cruise control
Adaptive Systems
Collision avoidance
Resolve
Safety
Control System
Simulation Study
Deceleration
Range of data
Strategy
Control systems

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
Ligthart, Jeroen ; Semsar-Kazerooni, E. ; Ploeg, Jeroen ; Alirezaei, Mohsen ; Nijmeijer, Henk. / Controller design for cooperative driving with guaranteed safe behavior. 2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Piscataway : Institute of Electrical and Electronics Engineers, 2018. blz. 1460-1465
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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., 8511625, Institute of Electrical and Electronics Engineers, Piscataway, blz. 1460-1465, Copenhagen, Denemarken, 21/08/18. https://doi.org/10.1109/CCTA.2018.8511625

Controller design for cooperative driving with guaranteed safe behavior. / Ligthart, Jeroen; Semsar-Kazerooni, E.; Ploeg, Jeroen; Alirezaei, Mohsen; Nijmeijer, Henk.

2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Piscataway : Institute of Electrical and Electronics Engineers, 2018. blz. 1460-1465 8511625.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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