Hierarchical Control of CAV Using Adaptive CBF

This research proposes a hierarchical control method using model predictive control and control barrier functions for CAVs (connected and automated vehicles). By using model predictive control for the upper layer and a control barrier function for the lower one, we aim to achieve control with reduced fuel consumption while ensuring safety even in environments where the behavior of the vehicle ahead is unpredictable. In this study, we aim to improve the feasibility of the lower layer by using Adaptive CBF. The upper layer takes preventive safety actions based on predictions of the preceding vehicle's behavior and ensures feasibility by using slack variables. The lower one using Adaptive CBF ensures the safety that is lacking. The effectiveness of the proposed method is demonstrated through simulations, comparing the results with those of previous studies.