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Safety-critical traffic control by connected automated vehicles.
- Source :
-
Transportation Research Part C: Emerging Technologies . Sep2023, Vol. 154, pN.PAG-N.PAG. 1p. - Publication Year :
- 2023
-
Abstract
- Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy traffic systems, the potential impact of these controllers on safety has not yet been fully addressed. This paper proposes safety-critical traffic control (STC) by CAVs—a strategy that allows a CAV to maintain safety relative to both the preceding vehicle and the following human-driven vehicles (HVs). Specifically, we utilize control barrier functions (CBFs) to impart collision-free behavior with formal safety guarantees to the closed-loop system. The safety of both the CAV and HVs is incorporated into the framework through a quadratic program-based controller that minimizes deviation from a nominal stabilizing traffic controller subject to CBF-based safety constraints. Considering that some state information of the following HVs may be unavailable to the CAV, we employ state observer-based CBFs for STC. Finally, we conduct extensive numerical simulations – that include vehicle trajectories from real data – to demonstrate the efficacy of the proposed approach in achieving provably safe traffic. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 0968090X
- Volume :
- 154
- Database :
- Academic Search Index
- Journal :
- Transportation Research Part C: Emerging Technologies
- Publication Type :
- Academic Journal
- Accession number :
- 169970320
- Full Text :
- https://doi.org/10.1016/j.trc.2023.104230