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Connected automated vehicles have shown great potential to improve theefficiency of transportation systems in terms of passenger comfort, fueleconomy, stability of driving behavior and mitigation of traffic congestions.Yet, to deploy these vehicles and leverage their benefits, the underlyingalgorithms must ensure their safe operation. In this paper, we address thesafety of connected cruise control strategies for longitudinal car followingusing control barrier function (CBF) theory. In particular, we consider varioussafety measures such as minimum distance, time headway and time to conflict,and provide a formal analysis of these measures through the lens of CBFs.Additionally, motivated by how stability charts facilitate stable controllerdesign, we derive safety charts for existing connected cruise controllers toidentify safe choices of controller parameters. Finally, we combine theanalysis of safety measures and the corresponding stability charts tosynthesize safety-critical connected cruise controllers using CBFs. We verifyour theoretical results by numerical simulations.

On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions