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Various control strategies and field experiments have been designed forconnected and automated vehicles (CAVs) to stabilize mixed traffic thatcontains both CAVs and Human-driven Vehicles (HVs). The effect of thesestabilizing CAV control strategies on traffic safety is still underinvestigation. In an effort to prioritize safety over stability, asafety-critical filter via control barrier functions (CBFs) can be designed bymodifying the stabilizing nominal control input in a minimal fashion andimparting collision-free driving behaviors for CAVs and HVs. However, suchformal safety guarantees can be violated if there are delays in the actuationand communication channels of the CAV. Considering both actuator and sensordelays, and disturbances, we propose robust safety-critical traffic control(RSTC) design to ensure ``robust safety'' of the mixed traffic. Whilepredictor-based CBF has been developed to compensate for the actuator delay,uncertain speed disturbances from the head vehicle cause prediction error andrequire novel robust CBF design. Besides, safety-critical control with sensordelay also remains an open question. In RSTC, a state predictor with boundederror is designed, and robust CBF constraints are constructed to guaranteesafety under actuator delay and disturbances. When there is a sensor delay, astate observer is designed and integrated with a predictor-based CBF to ensurerobust safety. Numerical simulations demonstrate that the proposed RSTC avoidsrear-end collisions for two unsafe traffic scenarios in the presence ofactuator, sensor delays and disturbances.

Robust Safety for Mixed-Autonomy Traffic with Delays and Disturbances