The safety-critical CCC framework can be effectively applied to various connected and automated vehicle applications, including lane changing, merging, and intersection crossing, by leveraging the principles of control barrier functions (CBFs) and vehicle-to-everything (V2X) communication.
Lane Changing: In lane changing scenarios, the safety-critical CCC can utilize CBFs to ensure that the vehicle maintains a safe distance from adjacent vehicles while executing the maneuver. By incorporating information from connected vehicles in adjacent lanes, the CCC can assess the safety of the lane change in real-time and adjust its trajectory accordingly. The safety filter can intervene if the vehicle's intended path poses a risk of collision, ensuring that the lane change is executed safely.
Merging: During merging maneuvers, the safety-critical CCC can be designed to account for the dynamics of both the merging vehicle and the vehicles already in the target lane. By using CBFs to define safe merging criteria, such as maintaining a minimum gap to the vehicle ahead, the CCC can optimize its speed and acceleration to facilitate a smooth and safe merge. The framework can also adapt to varying traffic conditions by adjusting control inputs based on the behavior of surrounding vehicles.
Intersection Crossing: For intersection crossing, the safety-critical CCC can integrate real-time data from connected traffic signals and other vehicles to assess the safety of crossing. CBFs can be employed to ensure that the vehicle does not enter the intersection if it detects potential conflicts with other vehicles or pedestrians. The safety filter can dynamically adjust the vehicle's speed and trajectory to avoid unsafe situations, such as running a red light or colliding with a crossing pedestrian.
Multi-Vehicle Coordination: In scenarios involving multiple connected vehicles, the safety-critical CCC can facilitate coordinated maneuvers, such as platooning or cooperative lane changes. By sharing information about their states and intentions, vehicles can optimize their movements to enhance safety and efficiency. The safety-critical framework ensures that even in complex interactions, safety is prioritized while allowing for performance optimization.
By applying the safety-critical CCC framework to these diverse applications, connected and automated vehicles can enhance their operational safety and efficiency, ultimately contributing to safer and more efficient roadways.