Longitudinal Collision Avoidance and Impact Mitigation Simulation for Different Scenarios

Previous work proposed a coordinated control strategy to avoid collision or minimize the impact of multiple-vehicle collision if it is unavoidable. The system was defined as a coupled group of vehicles (with vehicle-to-vehicle communications - V2V) with short enough following distances. The impact is defined as the relative kinetic energy between a pair of vehicles (approaching only). The relationship of this system with the vehicle in its front and rear can be simplified as lower bound limit on the deceleration of the first vehicle and upper bound on maximum deceleration of the last vehicle. The objective is to determine the desired deceleration for each vehicle in the coupled group such that the total impact of the system is minimized. The objective function is the total relative kinetic energy of the system. Model predictive control (MPC) is used for the control design, which ends up with a quadratic programming at each time step. This work presents the simulation results corresponding to different traffic scenarios: (a) no vehicle in the front and rear of the system; (b) with vehicle in the front only; (c) with vehicle in the rear only; and (d) with vehicle in both front and rear. Matlab simulation results are presented and briefly analyzed. It is expected that the developed algorithm can be used for progressive market penetration of V2V in practice.

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