Improved cooperative collision Avoidance (CCA) model considering driver comfort

Abstract

In this paper, we propose an improved cooperative collision Avoidance (CCA) system based on V2V communication for connected vehicles. To avoid the emergency braking and ensure the driver comfort, the collision can be prevented by not only decelerating the following vehicle, but also allowing the preceding vehicle to accelerate. Two collision avoidance models are thus developed: braking model and acceleration model, which calculate the desired deceleration rate of the following vehicle and the acceleration rate of preceding vehicle at each control time interval. It mainly addresses two issues, firstly, the traditional collision avoidance models mainly rely on emergency braking of the following vehicle, and the spacing will decrease suddenly, so the safety risk to drivers and passengers still exist; secondly, emergency braking always raise the driver discomfort. To address these issues, The improved CCA system is then tested on the platform of Matlab/Simulink embedded with a car simulator package, CarSim. The simulation results show that the improved CCA model can effectively avoid collision and ensure the driver comfort at the same time.