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Accomplishing safe and efficient driving is one of the predominant challengesin the controller design of connected automated vehicles (CAVs). It is oftenmore convenient to address these goals separately and integrate the resultingcontrollers. In this study, we propose a controller integration scheme to fuseperformance-based controllers and safety-oriented controllers safely for thelongitudinal motion of a CAV. The resulting structure is compatible with alarge class of controllers, and offers flexibility to design each controllerindividually without affecting the performance of the others. We implement theproposed safe integration scheme on a connected automated truck using anoptimal-in-energy controller and a safety-oriented connected cruise controller.We validate the premise of the safe integration through experiments with afull-scale truck in two scenarios: a controlled experiment on a test track anda real-world experiment on a public highway. In both scenarios, we achieveenergy efficient driving without violating safety.

Experimental Validation of a Safe Controller Integration Scheme for Connected Automated Trucks