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-2 | Engels |
|---|---|
| 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 |
|---|---|
| Verkorte titel | CCTA 2018 |
| Land | Denemarken |
| Stad | Copenhagen |
| Periode | 21/08/18 → 24/08/18 |
| Internet adres |
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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/Congresprocedure › Conferentiebijdrage › Academic › peer review
TY - GEN
T1 - Controller design for cooperative driving with guaranteed safe behavior
AU - Ligthart, Jeroen
AU - Semsar-Kazerooni, E.
AU - Ploeg, Jeroen
AU - Alirezaei, Mohsen
AU - Nijmeijer, Henk
PY - 2018/10/26
Y1 - 2018/10/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85056883835&partnerID=8YFLogxK
U2 - 10.1109/CCTA.2018.8511625
DO - 10.1109/CCTA.2018.8511625
M3 - Conference contribution
AN - SCOPUS:85056883835
SP - 1460
EP - 1465
BT - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PB - Institute of Electrical and Electronics Engineers
CY - Piscataway
ER -