Related papers: Nonlinear dynamics of autonomous vehicles with lim…
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…
This paper addresses the string stabilization of vehicular platooning when stochastic phenomena are inherent in inter-vehicle communication. To achieve this, we first provide two definitions to analytically assess the string stability in…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
In this paper, we give necessary conditions for stability of coupled autonomous vehicles in R. We focus on linear arrays with decentralized vehicles, where each vehicle interacts with only a few of its neighbors. We obtain explicit…
We consider a graph theoretic approach to the performance and robustness of a platoon of vehicles, where each vehicle communicates with its $k$-nearest neighbors. In particular, we quantify the platoon's stability margin, robustness to…
A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…
The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small…
We study a hierarchy of models based on kinetic equations for the descriptions of traffic flow in presence of autonomous and human--driven vehicles. The autonomous cars considered in this paper are thought of as vehicles endowed with some…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
This paper develops a computational framework based on a car-following model to study traffic instability and lane changes. Building upon Newell's classical first-order car-following model, we show that, both analytically and numerically,…
The speed limit changes frequently throughout the transportation network, due to either safety (e.g., change in geometry) or congestion management (e.g., speed harmonization systems). Any abrupt reduction in the speed limit can create a…
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular platoons with heterogeneous vehicles,…
The collective behavior of human-driven vehicles (HVs) produces the well-known stop-and-go waves potentially leading to higher fuel consumption and emissions. This paper investigates the stabilization of traffic flow via a minimum number of…