文章基本信息

标题：Safety analysis of a vehicle equipped with Cooperative Adaptive Cruise Control
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作者：Jeroen A.J. Ligthart ; Jeroen Ploeg ; Elham Semsar-Kazerooni 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：9
页码：367-372
DOI：10.1016/j.ifacol.2018.07.060
语种：English
出版社：Elsevier
摘要：AbstractStability and string stability of platoons equipped with Cooperative Adaptive Cruise Control (CACC) is widely discussed in literature. However, safe behavior of a vehicle in a platoon, i.e., making sure that a vehicle is not involved in a collision with its preceding vehicle, is not considered to a large extent. This paper exploits techniques from invariant set theory to perform a safety analysis of vehicle behavior in a platoon. Here, regions in the state space are determined that guarantee safe behavior of a vehicle for all future time. These so-called safe sets are determined for CACC under various circumstances, in particular with and without wireless inter-vehicle communication. The proposed safety analysis framework supports real-time safety monitoring in vehicles.
关键词：KeywordsSafety analysisVehicle controlCooperative controlInvariant set theory