Safety-critical traffic control by connected automated vehicles
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 safe...
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| Published in | Transportation research. Part C, Emerging technologies Vol. 154; p. 104230 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.09.2023
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| Subjects | |
| Online Access | Get full text |
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| 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. |
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| AbstractList | 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. |
| ArticleNumber | 104230 |
| Author | Zhao, Chenguang Yu, Huan Molnar, Tamas G. |
| Author_xml | – sequence: 1 givenname: Chenguang surname: Zhao fullname: Zhao, Chenguang organization: Thrust of Intelligent Transportation, The Hong Kong University of Science and Technology (Guangzhou), Nansha, Guangzhou, 511400, Guangdong, China – sequence: 2 givenname: Huan orcidid: 0000-0002-9324-0200 surname: Yu fullname: Yu, Huan email: huanyu@ust.hk organization: Thrust of Intelligent Transportation, The Hong Kong University of Science and Technology (Guangzhou), Nansha, Guangzhou, 511400, Guangdong, China – sequence: 3 givenname: Tamas G. orcidid: 0000-0002-9379-7121 surname: Molnar fullname: Molnar, Tamas G. organization: Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA 91106, USA |
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| Keywords | Traffic control State observer Connected automated vehicle Control barrier function Safety-critical control Mixed traffic |
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| SubjectTerms | Connected automated vehicle Control barrier function Mixed traffic Safety-critical control State observer Traffic control |
| Title | Safety-critical traffic control by connected automated vehicles |
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