Feasible Safe Connected Cruise Control with Backstepping Control Barrier Functions

This paper proposes a safety-critical connected cruise control strategy using backstepping control barrier functions to enforce safety for connected automated vehicles while satisfying actuator limits. The proposed approach accounts for the vehicle's response time, modeled as a first-order lag. We investigate the impact of braking limits and lag time on the conservativeness of the safe region in the state space. Using simulations, we confirm that the proposed controller ensures safety while maintaining feasibility.

• Publication year

  2025

• Venue

  Conference on Control Technology and Applications

• Publication date

  2025-08-25

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/CCTA53793.2025.11151461
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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