Work

Can control barrier functions keep automated vehicles safe in live freeway traffic?

Year: 2025

Type: conference-paper

Abstract: This work presents testing of a Control Barrier Function (CBF) supervised Automated Vehicle (AV) in live freeway traffic. The CBF is designed and implemented using a common dynamical model for AV longitudinal control and a time-gap based safety property combined with CAN bus injection software/hardware. 1.17 hours of car-following data is collected from driving in congested freeway traffic. We analyze the extent to which the CBF controlled AV satisfied three properties: 1) forward-invariance of the safety property, 2) recovery of the safety property, and 3) collision avoidance.

Source: ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)

DOI: 10.1145/3716550.3722034

Authors: George Gunter, Matthew Nice, Matt Bunting, Jonathan Sprinkle, Daniel Work

Institution: Vanderbilt University

Language: English

Topic: Traffic control and management

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDGs: Industry, innovation and infrastructure, Sustainable cities and communities

Open Access status: hybrid

Funders: National Science Foundation, Universitas Brawijaya