Safety-critical stabilization of mixed traffic by pairs of CAVs
Zhao, Chenguang Molnar, Tamas G. Yu, Huan
Zhao, Chenguang
Molnar, Tamas G.
Yu, Huan
Authors
Other Names
Location
Time Period
Advisors
Original Date
Digitization Date
Issue Date
2024
Type
Conference paper
Genre
Keywords
Analytical model,Control design,Traffic control,Numerical simulation,Stability analysis,Safety,Numerical stability,Connected and automated vehicle,Mixed traffic,Stability analysis,Safety-critical control
Subjects (LCSH)
Citation
Zhao, T. G. Molnar and H. Yu, "Safety-Critical Stabilization of Mixed Traffic by Pairs of CAVs," 2024 American Control Conference (ACC), Toronto, ON, Canada, 2024, pp. 743-748, doi: 10.23919/ACC60939.2024.10644858
Abstract
Connected and automated vehicles (CAVs) have been widely applied to vehicle-based traffic control in mixed-autonomy systems that consist of CAVs and human-driven vehicles (HVs). The control designs of CAV s allow them to drive smoothly, cooperate, and stabilize the flow of traffic. However, these controllers must also ensure safe behaviors for CAVs as well as consider their potential impact on the safety of following HVs. In this paper, we propose nonlinear controllers for a pair of CAV s that respond to each other whilst traveling amongst HVs. The controllers seek to stabilize traffic, while the safety of CAVs in terms of front-end collisions is formally guaranteed via control barrier functions. We analyze how the coordination of CAVs affects stability and safety in the mixed traffic system. The efficacy of the proposed controllers is demonstrated by numerical simulations.
Table of Contents
Description
Date of Conference: 10-12 July 2024
Date Added to IEEE Xplore: 05 September 2024
Conference Location: Toronto, ON, Canada
Conference Location: Toronto, ON, Canada
Publisher
IEEE
Journal
2024 American Control Conference (ACC)
Book Title
Series
Digital Collection
Finding Aid URL
Use and Reproduction
Archival Collection
PubMed ID
ISSN
2378-5861
0743-1619
0743-1619