On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions

Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy these vehicles and leverage their benefits, the underlying algorithms must ensure their safe operation. In this paper, we address the safety of connected cruise control strategies for longitudinal car following using control barrier function (CBF) theory. In particular, we consider various safety measures such as minimum distance, time headway and time to conflict, and provide a formal analysis of these measures through the lens of CBFs. Additionally, motivated by how stability charts facilitate stable controller design, we derive safety charts for existing connected cruise controllers to identify safe choices of controller parameters. Finally, we combine the analysis of safety measures and the corresponding stability charts to synthesize safetycritical connected cruise controllers using CBFs. We verify our theoretical results by numerical simulations.