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.
Enhancing Safety at Highway Ramps and Intersections Using Safe Cooperative Controls in Automated Vehicles
2024-09-24
603065 byte
Conference paper
Electronic Resource
English
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