Safety Cruise Control of Connected Vehicles Using Radar and Vehicle-to-Vehicle Communication

It is a common traffic phenomenon that side vehicles change lanes without any forewarning, which is easy to induce vehicle side collision and rear-end collision. In order to improve the active safety of cruise control in such a random traffic environment, this article proposes a connected cruise control (CCC) framework considering merging behavior probability of side vehicles. The control strategy of the framework first uses vehicle-to-vehicle communication and radar recognition algorithm to detect the surrounding vehicle targets. Then, the merging potential of the side vehicle is determined through the combination of fuzzy support vector machine and sliding window detection. Afterward, a cruise distance strategy considering the cutting-in probability of merging behavior is proposed and applied to the CCC system to realize the early braking of the main vehicle. Finally, the longitudinal control of the host vehicle is realized by the acceleration control, considering both the time delay and feedback error. The effectiveness of the proposed systematic control framework is verified through not only simulation but also field test. Results show that our method can accurately detect the lane change intent of the side vehicle, thus realizing braking of the host vehicle in advance when the side vehicle changes lane.