Guaranteeing safety for heavy duty vehicle platooning: Safe set computations and experimental evaluations

Safety in Vehicle Platooning: A Systematic Literature Review

“…The most prominent hazard is, as was already described in Section 1.A, that one vehicle in the platoon runs into a preceding vehicle [12] [31], and in particular this becomes an issue when the first vehicle needs to perform an emergency brake. A variation of this is when the lead vehicle of one platoon runs into the last vehicle of another platoon [13] [14], and avoiding this becomes a part of the system's functionality when considering automated highways.…”

“…Related to this is also a game theoretic analysis of safety distances within a platoon [12], and a theoretical analysis of traffic safety in situations where some vehicles are automated and others are human driven [19]. Finally, one paper performs a logical reasoning to determine how combinations of device failures can be managed by a proposed handling strategy [26].…”

“…[12][28] [32]). Road tests can be either naturalistic field studies on public roads, or on closed test tracks.…”

“…In principle, two solutions are put forward to this. The first is to order the vehicles in the platoon according to brake capability, with the least capable taking the lead [12] [28]. The other option is to limit the brake force of the lead vehicle to that of the least capable in the platoon [11].…”

“…Some publications assume full automation, where both longitudinal position (acceleration) and lateral position (steering) is considered, whereas others limit themselves to only longitudinal control, which is sometimes referred to as Cooperative Adaptive Cruise Control (CACC). In some cases, the length of the platoon is very restrictive, even down to only two vehicles [28], and some assume (explicitly or implicitly) more or less equal vehicle configurations [12].…”