CPL - Chalmers Publication Library
| Utbildning | Forskning | Styrkeområden | Om Chalmers | In English In English Ej inloggad.

Reachability Analysis of Cooperative Adaptive Cruise Controller

Roozbeh Kianfar (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
2012 15th International IEEE Conference on Intelligent Transportation Systems, ITSC 2012, Anchorage, AK, 16 - 19 September 2012 (2153-0009). p. 1537-1542. (2012)
[Konferensbidrag, refereegranskat]

In this paper, a set based approach to safety analysis of Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC) is presented. Reachability analysis techniques are used to compare the minimum safe intervehicle distances which can be achieved with ACC and CACC controllers. Not surprisingly, the results indicate that a shorter inter-vehicle distance can be achieved with a CACC controller. The presented method can also be used to design the required inter-vehicle distance for a given controller. Furthermore, we show how backward reachability analysis and invariant set theory can be used to find the Maximal Asymptotic Safe Set. This is defined as a set of position error, relative speeds and acceleration, which a given controller is guaranteed to control to the desired speed and inter-vehicle distance, while fulfilling vehicle physical constraints and avoiding rear-end collisions with the preceding vehicle. The calculation of the Maximal Asymptotic Safe Set is demonstrated for ACC and CACC controller designed based on mixed H2/∞ state feedback. Finally, the calculation of the Maximal Asymptotic Safe Set is extended to the case of vehicle model uncertainties.


Article number 6338839



Den här publikationen ingår i följande styrkeområden:

Läs mer om Chalmers styrkeområden  

Denna post skapades 2012-10-29. Senast ändrad 2016-07-08.
CPL Pubid: 165162

 

Läs direkt!

Lokal fulltext (fritt tillgänglig)

Länk till annan sajt (kan kräva inloggning)


Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Transport
Hållbar utveckling
Elektroteknik och elektronik

Chalmers infrastruktur