# Correct-By-Construction Design of Adaptive Cruise Control with Control Barrier Functions Under Safety and Regulatory Constraints

arXiv: https://arxiv.org/abs/2203.14110 · HTML: https://mlsanity.com/paper/2203.14110/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Mar 2022.

## Built on by (most cited first, 2 of 2)

- [Compositionally Safe Construction of Autonomous Driving Systems](https://mlsanity.com/paper/2405.11995/) (2024)
- [Platoon-Centric Green Light Optimal Speed Advisory Using Safe Reinforcement Learning](https://mlsanity.com/paper/2509.12378/) (2025)

## Abstract (arXiv)

The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to provide strong guarantees of safety and performance under all driving conditions. However, existing approaches have mostly focused on fully verified solutions under smooth traffic conditions, with the exception of stop-and-go scenarios. Systematic methods for high-performance ACC design under safety and regulatory constraints like traffic signals are still elusive. A challenge for correct-by-construction approaches based on CBFs stems from the need to capture the constraints imposed by traffic signals, which lead to candidate time-varying CBFs (TV-CBFs) with finite jump discontinuities in bounded time intervals.