Assessing the safety benefits of CACC+ based coordination of connected and autonomous vehicle platoons in emergency braking scenarios
CoRR(2024)
摘要
Ensuring safety is the most important factor in connected and autonomous
vehicles, especially in emergency braking situations. As such, assessing the
safety benefits of one information topology over other is a necessary step
towards evaluating and ensuring safety. In this paper, we compare the safety
benefits of a cooperative adaptive cruise control which utilizes information
from one predecessor vehicle (CACC) with the one that utilizes information from
multiple predecessors (CACC+) for the maintenance of spacing under an emergency
braking scenario. A constant time headway policy is employed for maintenance of
spacing (that includes a desired standstill spacing distance and a velocity
dependent spacing distance) between the vehicles in the platoon. The considered
emergency braking scenario consists of braking of the leader vehicle of the
platoon at its maximum deceleration and that of the following vehicles to
maintain the spacing as per CACC or CACC+. By focusing on the standstill
spacing distance and utilizing Monte Carlo simulations, we assess the safety
benefits of CACC+ over CACC by utilizing the following safety metrics: (1)
probability of collision, (2) expected number of collisions, and (3) severity
of collision (defined as the relative velocity of the two vehicles at impact).
We present and provide discussion of these results.
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