Design of low confict cruise control for safety critical vehicle interactions

摘要

In the paper a speed profle design strategy to avoid safety conficts in vehicle interactions is proposed. A fault-tolerant strategy for an intersection scenario is presented, which handles the malfunction of the trafc control elements, such as trafc lights. The signals obtained from the road and vehicles in the trafc are handled jointly with the dynamic equations of the vehicle and built into the control design of speed. The look-ahead cruise control method is able to guarantee safety and fnd an energy-efcient solution with the incorporation of road grade and speed limits. The efciency of the method is demonstrated through simulation examples.