Integrity-Gated Eco-CACC Adds Real-Time Model-Trust Monitoring to Signalized-Intersection Cooperative Driving完整性门控Eco-CACC框架为信号灯路口协同驾驶引入实时模型可信度监测
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In an arXiv paper (2607.18565v1, submitted July 20, 2026) on Eco-Cooperative Adaptive Cruise Control (Eco-CACC), authors Lyes Saad Saoud and Moussa Ayyash propose an "Integrity-Gated" framework that explicitly checks whether a vehicle's internal world model is still valid before using it for energy-optimal control at signalized intersections.
The system computes a unified integrity metric from positional innovation, observability loss, and semantic inconsistency between the world model and sensor data, then uses the resulting trust score to switch control authority between eco-driving optimization and a conservative safety fallback.
This targets a key real-world deployment gap for CACC at intersections: existing eco-driving controllers assume their localization, signal-timing, and interaction models stay valid, so they can keep optimizing on stale or corrupted premises during sensing outages, whereas the gated approach preserves fuel/energy savings in normal operation while automatically falling back to safety-first behavior when model integrity degrades.