A study about trajectory planning sensitivity in high-speed cooperative collision avoidance

In Intelligent Transport Systems, Cooperative Collision Avoidance (CCA) by active communication systems is increasingly drawing more attention in the research community. Particularly, in order to minimize the number of situations where high speeds can lead to severe consequences in case of accident. When two or more vehicles are involved in such events, it is necessary to reach a common agreement very quickly that can serve all of them to minimize the risk of collision, and whenever it is unavoidable, to reduce its impact on the occupants. Depending on the vehicle-to-vehicle distances, the relative speeds and other factors such as the position and inertia of each car at the instant of triggering the evasive maneuver, different situations can eventually occur. Actually, the sensitivity of vehicular maneuvers under these circumstances is very high, thus being important to analyze the impact on performance of the given safety application. In this paper, we conduct a brief sensitivity study of a CCA application that involves several vehicles that have to avoid the collision against an obstacle on the road, while circulating at very high speeds. Results show how significant it is for the safety control the accuracy in the measurements and the fast common response to the incidence.