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This paper introduces the Integrity-Gated Eco-CACC framework, which enhances Eco-Cooperative Adaptive Cruise Control systems by monitoring the consistency between vehicle beliefs and external sensor data. By integrating a unified integrity metric that assesses positional innovation, observability loss, and semantic inconsistencies, the framework dynamically adjusts control authority to balance energy efficiency and safety. Simulation results show that the proposed method maintains optimal performance under consistent conditions while effectively managing safety during integrity degradation.
Trust scores can now dictate whether energy-efficient driving is safe, allowing vehicles to switch to conservative maneuvers when sensing inconsistencies arise.
Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems rely on accurate localization, signal timing, and interaction awareness to optimize energy consumption at signalized intersections. Existing approaches typically assume that the internal world model used for optimization remains valid, making them vulnerable when sensing outages or semantic inconsistencies invalidate planning premises. This letter proposes an Integrity-Gated Eco-CACC framework that explicitly monitors the consistency between internal vehicle beliefs and external sensing. A unified integrity metric is constructed by combining positional innovation, observability loss, and semantic inconsistencies. The resulting trust score regulates control authority, enabling a transition between nominal eco-driving and a safety-dominant fallback maneuver. Unlike robust control methods that attempt to preserve performance under uncertainty, the proposed framework regulates whether energy-optimal control remains admissible. Scenario-based simulations demonstrate that the method preserves nominal efficiency when model consistency is maintained, while enabling early and conservative responses under integrity degradation.
