Safety Assessment of Cooperative Adaptive Cruise Control in an Emergency Braking Scenario
Abstract
In this thesis, we first introduce a dynamic model of platoon and control strategies. Then we propose a model simulating behaviors of platoons in emergency braking scenario. Time headway and brake capacity follow corresponding distributions in this model. Based on the dynamic model, control strategies and simulation model, we analysis impacts of different parameters, including size of platoon, initial velocity, parasitic latency, packet dropping rate, length of vehicle and control gains kᵨ and kᵥ, on the safety of CACC system with respect to probability of collision, expected number of impacts per collision, expected relative velocity at impact and variance of spacing error. In the last part of simulation, we also give some safety sets of gains such that corresponding safety can be promised when gains are in these sets.
Through experiments, we find that initial velocity, parasitic latency, packet dropping rate and gains are eligible to make significant difference on safety of CACC. And size of platoon can only affect severity of collision. Length of vehicle doesn’t affect safety at all. In addition, CACC always improves safety in emergency braking scenario over ACC with any parameters.
Citation
Yan, Shaojie (2020). Safety Assessment of Cooperative Adaptive Cruise Control in an Emergency Braking Scenario. Master's thesis, Texas A&M University. Available electronically from https : / /hdl .handle .net /1969 .1 /191926.