Cooperative platooning is a promising method for improving energy efficiency and traffic throughput on interstates. Ensuring collision avoidance is particularly difficult in platooning due to the small desired inter-vehicle spacing. We propose a safety protocol that can be applied to arbitrary controllers in platooning to prevent collisions in a provably correct manner while still realizing a small distance to the preceding vehicle. Our protocol intervenes as rarely and smoothly as possible, and its safety is ensured even if communication fails. In addition, we propose a safety protocol for consensus techniques where the vehicles of the platoon successively agree on a common braking limit. Our safety protocols are evaluated on various scenarios using the CommonRoad benchmark suite.
Provably Correct Safety Protocol for Cooperative Platooning
02.06.2024
1505933 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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