This article focuses on improving the safety of real-world scenarios such as highway merging and intersections by using cooperative control strategies for automated vehicles (AV s). We utilize a cooperative control approach, integrating a safety filter to ensure that all vehicles can avoid conflicts in challenging environments. A leader-follower pattern is adopted in the framework, ensuring all AV s reach a consistent status with the leader reference AV. The safety filter utilizes control barrier functions (CBF) and a proposed safety set function to derive safe control inputs. To demonstrate the practicality of the safe cooperative framework, the simulation is implemented across three carefully chosen traffic scenarios: highway merging, opposite-direction merging, and a complex four-leg intersection, reflecting the diverse challenges encountered in real-world transportation systems. Implementing the safe cooperative controller achieves zero conflict rates in all three scenarios, demonstrating its effectiveness in preventing conflicts.


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    Title :

    Enhancing Safety at Highway Ramps and Intersections Using Safe Cooperative Controls in Automated Vehicles


    Contributors:


    Publication date :

    2024-09-24


    Size :

    603065 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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