Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results

Fang Chieh Chou, Marsalis Gibson, Rahul Bhadani, Alexandre M. Bayen, Jonathan Sprinkle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go traffic waves. With more than 1100 miles of driving data collected by our physical platform, we validate our analysis results by comparing it to human driving behaviors. The FollowerStopper controller has been demonstrated to dampen stop-and-go traffic waves at low speed, but previous analysis on its relative safety has been limited to upper and lower bounds of acceleration. To expand upon previous analysis, reachability analysis is used to investigate the safety at the speeds it was originally tested and also at higher speeds. Two formulations of safety analysis with different criteria are shown: distance-based and time headway-based. The FollowerStopper is considered safe with distance-based criterion. However, simulation results demonstrate that the FollowerStopper is not representative of human drivers - it follows too closely behind vehicles, specifically at a distance human would deem as unsafe. On the other hand, under the time headway-based safety analysis, the FollowerStopper is not considered safe anymore. A modified FollowerStopper is proposed to satisfy time-based safety criterion. Simulation results of the proposed FollowerStopper shows that its response represents human driver behavior better.

Original languageEnglish (US)
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8607-8613
Number of pages7
ISBN (Electronic)9781728190778
DOIs
StatePublished - 2021
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: May 30 2021Jun 5 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period5/30/216/5/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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