Longitudinal safety impacts of cooperative adaptive cruise control vehicle's degradation

Introduction: The adaptive cruise control (ACC) and cooperative ACC (CACC) systems are critical parts of self-driving vehicles. The ACC vehicles detect front vehicle' information via vehicle-mounted sensors and make longitudinal reactions automatically, while CACC vehicles enhance the performance by vehicle-to-vehicle (V2V) wireless communication. However, CACC vehicles may abruptly degrade to ACC mode in reality due to various reasons, including communication failures, driver manipulations, and cyber-attacks. The sudden degradation will definitely bring negative influences on safety. Method:This study quantitatively evaluated the longitudinal safety impacts of vehicles' degradation in a CACC fleet based on microscopic simulations. The realistic CACC and ACC models proposed by the California Partners for Advanced Transit and Highways (PATH) were used for simulation experiments. The time integrated time-to-collision (TIT) was measured to quantify the collision risks. Extensive simulations were conducted via a fleet of 10 CACC vehicles and speed profiles of vehicles in different scenarios were compared. Key factors, including the leading vehicle's deceleration rate, the number of vehicles between degraded vehicles (NVDVs), threshold of TTC, and visibility were also examined via sensitivity analyses. Results and conclusions: Simulation results indicate that degradation has significant negative influences on longitudinal safety of degraded vehicles under the driving state of deceleration. Degradation at middle positions in a CACC fleet, such as fourth and fifth positions, is much safer than that at others. Moreover, nonadjacent degradation is much riskier than adjacent degradation at the front positions of a fleet. NVDVs can bring inverse impacts on safety with different degradation positions. Speed profiles imply that the hysteresis of degraded vehicles' speed control is the major reason for high collision risks. Practical applications: Appropriately, hierarchical countermeasures have the potential to reduce the longitudinal safety impacts of degradation. Findings of this study can contribute to determining the applicable length of CACC fleets.