Safety-critical traffic control by connected automated vehicles

نویسندگان

چکیده

Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies been developed for CAVs to achieve string stability mixed-autonomy systems, the impact of these controllers on safety has not yet fully addressed. This paper proposes safety-critical (STC) by CAVs—a strategy that allows a CAV maintain relative both preceding vehicle following human-driven (HVs). Specifically, we utilize barrier functions (CBFs) impart collision-free behavior with formal guarantees closed-loop system. The HVs is incorporated into framework through quadratic program-based controller minimizes deviation from nominal stabilizing subject CBF-based constraints. Considering some state information may be unavailable CAV, employ observer-based CBFs STC. Finally, conduct extensive numerical simulations – include trajectories real data demonstrate efficacy proposed approach achieving provably safe traffic.

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ژورنال

عنوان ژورنال: Transportation Research Part C-emerging Technologies

سال: 2023

ISSN: ['1879-2359', '0968-090X']

DOI: https://doi.org/10.1016/j.trc.2023.104230