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Safe Platooning in Automated Highway Systems Part I: Safety Regions Design

机译：自动化公路系统中的安全排第I部分：安全区域设计

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This paper addresses the problem of designing safe controllers for vehicle manuevering in Automated Highway Systems (AHS) in which traffic is organized into platoons of closely spaced vehicles. Conditions to achieve safe platooning under normal modes of operation are investigated. The notion of safety is related with the absence of collisions that exceed a given relative velocity threshold. State dependent safety regions for the platoons are designed in such a way that, whenever the state of a platoon is inside these safety regions, it is guaranteed that platoon maneuvering will be safe and follow the behavior prescribed by the finite state machines that control vehicles manuevers. It is shown that it is possible to design control laws that keep the state of the platoons inside these safety regions. The results obtained allow one to decouple the controllers for the regulation of the manuevers and the finite state machines that determine their proper sequence in AHS architectures. The overall complexity of the design and verification of the AHS as an hybrid system is therefore greatly reduced.
机译：本文解决了在自动公路系统（AHS）中设计用于车辆操纵的安全控制器的问题，在该系统中，交通被组织成紧密排成一行的车辆排。研究了在正常操作模式下实现安全排的条件。安全的概念与不存在超过给定相对速度阈值的碰撞有关。排的依赖于状态的安全区域的设计方式是，只要排的状态在这些安全区域之内，就可以确保排操纵是安全的，并遵循控制车辆操纵的有限状态机规定的行为。 。结果表明，可以设计控制规则，以将排的状态保持在这些安全区域内。获得的结果使人们能够解耦控制器，以调节操纵和确定AHS体系结构中适当顺序的有限状态机。因此，大大降低了作为混合系统的AHS的设计和验证的总体复杂性。

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