Title: On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions Show Chinese title

Title: 关于连通巡航控制的安全性：基于控制屏障函数的分析与综合

Abstract: Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy these vehicles and leverage their benefits, the underlying algorithms must ensure their safe operation. In this paper, we address the safety of connected cruise control strategies for longitudinal car following using control barrier function (CBF) theory. In particular, we consider various safety measures such as minimum distance, time headway and time to conflict, and provide a formal analysis of these measures through the lens of CBFs. Additionally, motivated by how stability charts facilitate stable controller design, we derive safety charts for existing connected cruise controllers to identify safe choices of controller parameters. Finally, we combine the analysis of safety measures and the corresponding stability charts to synthesize safety-critical connected cruise controllers using CBFs. We verify our theoretical results by numerical simulations. Show Chinese abstract

Abstract: 联网的自动驾驶车辆在提高交通系统效率方面显示出巨大潜力，包括乘客舒适度、燃油经济性、驾驶行为稳定性以及缓解交通拥堵。 然而，为了部署这些车辆并利用它们的好处，底层算法必须确保它们的安全运行。 本文中，我们使用控制屏障函数（CBF）理论解决了纵向车距跟随的联网巡航控制策略的安全性问题。 特别是，我们考虑了各种安全措施，如最小距离、时间头距和冲突时间，并通过CBF的视角提供了这些措施的正式分析。 此外，受稳定图表有助于稳定控制器设计的启发，我们为现有的联网巡航控制器推导出安全图表，以识别控制器参数的安全选择。 最后，我们将安全措施的分析与相应的稳定图表相结合，使用CBF综合出安全关键的联网巡航控制器。 我们通过数值仿真验证了我们的理论结果。