Chen, Yuchen (University of Michigan), Orosz, Gabor (University of Michigan), Molnar, Tamas Gabor (Wichita State University)

Safety-Critical Connected Cruise Control: Leveraging Connectivity for Safe and Efficient Longitudinal Control of Automated Vehicles

Scheduled for presentation during the Invited Session "Traffic Control and Connected Autonomous Vehicles: benefits for efficiency, safety and beyond (2 edition) I" (WeAT4), Wednesday, September 25, 2024, 10:30−10:50, Salon 8

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

Leveraging connectivity for controlling connected automated vehicles (CAVs) has great potential for improving the safety and efficiency of transportation. In this paper, we study the safety of connected cruise control (CCC), wherein CAVs respond to multiple preceding vehicles via vehicle-to-everything (V2X) connectivity. Using control barrier function theory, we analyze how connectivity to vehicles farther ahead can be leveraged to improve the CAV’s safety, and we propose safety-critical CCC by minimally modifying efficient but not always safe CCC designs. We use simulations to evaluate the proposed safety-critical CCC with respect to safety, energy efficiency and string stability. We also study mixed traffic, and show that increasing the penetration of CAVs can significantly improve both safety and performance of road transportation systems.