A LiDAR-Driven Fallback Longitudinal Controller for Safer Following in Sudden Braking Scenarios
It addresses the reliability gap in CACC systems when V2V communication fails, offering a safety fallback for autonomous vehicle following.
The paper proposes a LiDAR-based fallback longitudinal controller for adaptive cruise control that relies only on distance and follower velocity, achieving collision-free emergency braking and standstill following despite sensor delays.
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels limits its reliability. Research on reducing information dependencies in Adaptive Cruise Control systems has remained limited, despite its critical role in mitigating collision risks during sudden braking scenarios. This study proposes a novel fallback longitudinal controller that relies solely on LiDAR-based distance measurements and the velocity of a follower vehicle. The controller is designed to be time-independent, ensuring operation in the presence of sensor delays or synchronization issues. Simulation results demonstrate that the proposed controller enables vehicle-following from standstill and prevents collisions during emergency braking, even under minimal onboard information.