Differential Game based Safe Controller Design for Intelligent Cruise Control

The paper presents an approach to safe controller design for intelligent cruise control applications using differential game theory. The design problem is formulated as a zerosum differential game, where the objective of the lead vehicle is to provoke a collision and the objective of the following vehicle is to prevent a collision from happening regardless of the motion of the leader. A control strategy is safe if it can guarantee that no collision will occur between vehicles. The approach is applicable to Adaptive Cruise Control (ACC) and Cooperative ACC systems.