Integrating safety with performance in connected automated truck control: Experimental validation
Alan, A. He, Chaozhe R. Molnar, Tamas G. Mathew, Johaan Chacko Bell, A. Harvey Orosz, Gábor
Alan, A.
He, Chaozhe R.
Molnar, Tamas G.
Mathew, Johaan Chacko
Bell, A. Harvey
Orosz, Gábor
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Issue Date
2024-01
Type
Article
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Keywords
Connected automated trucks,Control barrier functions,Energy efficiency,Safety
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Citation
A. Alan, C. R. He, T. G. Molnar, J. C. Mathew, A. H. Bell and G. Orosz, "Integrating Safety With Performance in Connected Automated Truck Control: Experimental Validation," in IEEE Transactions on Intelligent Vehicles, vol. 9, no. 1, pp. 3075-3088, Jan. 2024, doi: 10.1109/TIV.2023.3305204
Abstract
Combining efficiency with safety is one of the most important design challenges for connected automated trucks. In order to address this challenge for longitudinal control problems, we propose a scheme that integrates a performance-based controller with a safety-oriented controller in a seamless manner. This safe integration scheme operates instantaneously, and it is compatible with a large class of controllers. We first link this practical integration method to the theoretical framework of control barrier functions that endows controllers with formal safety guarantees. Then, through this scheme we safely integrate a predictive-type controller minimizing energy consumption (predictive cruise control—PCC) with a safety-oriented cruise controller structure relying on connectivity (connected cruise control—CCC). Importantly, the efficacy of the safe and seamless integration between the PCC and the CCC is demonstrated using on-road experiments with a full-scale connected automated truck. Initial experimental campaign is held on a closed test track, and safe driving is achieved thanks to the CCC while up to 18% energy saving is obtained thanks to the PCC. Finally, experiments are extended to a public highway, and similar results are obtained with up to 4.3% energy saving.
Table of Contents
Description
Published online on May 31, 2023. Published in the journal in January 2024.
Publisher
IEEE
Journal
IEEE Transactions on Intelligent Vehicles
Book Title
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Digital Collection
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Archival Collection
PubMed ID
ISSN
2379-8904
2379-8858
2379-8858