Related papers: Nonlinear dynamics of autonomous vehicles with lim…
Many headway-based car-following models describe longitudinal adaptation through linear relaxation laws, which can produce unrealistically large accelerations and limit the physical consistency of microscopic traffic dynamics. Motivated by…
This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through…
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…
Reaction delays are important in determining the qualitative dynamical properties of a platoon of vehicles traveling on a straight road. In this paper, we investigate the impact of delayed feedback on the dynamics of the Modified Optimal…
This paper deals with a one-dimensional wave equation with a nonlinear dynamic boundary condition and a Neumann-type boundary control acting on the other extremity. We consider a class of nonlinear stabilizing feedbacks that only depend on…
Statistical mechanics of a small system of cars on a single-lane road is developed. The system is not characterized by a Hamiltonian but by a conditional probability of a velocity of a car for the given velocity and distance of the car…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
A cellular automaton model of traffic flow taking into account velocity anticipation is introduced. The strength of anticipation can be varied which allows to describe different driving schemes. We find phase separation into a free-flow…
Autonomous optimization refers to the design of feedback controllers that steer a physical system to a steady state that solves a predefined, possibly constrained, optimization problem. As such, no exogenous control inputs such as setpoints…
This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…
A new cellular automaton (CA) traffic model is presented. The focus is on mechanical restrictions of vehicles realized by limited acceleration and deceleration capabilities. These features are incorporated into the model in order to…
Network systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation con- trol. Especially vehicle platoons are highly investigated and an interesting problem that arises…
We analyze stability of a system which contains an harmonic oscillator non-linearly coupled to its second harmonic, in the presence of a driving force. It is found that there always exists a critical amplitude of the driving force above…
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
Statistical mechanics of a disordered system of cars on a single-lane road is developed. Behaviour of cars is defined by conditional probability of car velocity depending on the distance and velocity of the car ahead. A system consisting of…
In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce…
Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we…
The emerging connected and automated vehicle technologies allow vehicles to perceive and process traffic information in a wide spatial range. Modeling nonlocal interactions between connected vehicles and analyzing their impact on traffic…
Adaptive cruise control systems are fundamental components of the automation of the driving. At upper control level, ACC systems are based on car-following models determining the acceleration rate of a vehicle according to the distance gap…