Related papers: Nonlinear dynamics of autonomous vehicles with lim…
We have revealed physical features of autonomous driving in the framework of the three-phase traffic theory for which there is no fixed time headway to the preceding vehicle. A comparison with the classical model approach to autonomous…
It is a known fact that not all controllable systems can be asymptotically stabilized by a continuous static feedback. Several approaches have been developed throughout the last decades, including time-varying, dynamical and even…
Interactions between road users are both highly non-linear and profoundly complex, and there is no reason to expect that interactions between autonomous vehicles will be any different. Given the recent rapid development of autonomous…
This paper firstly show that a recent model (Tian et al., Transpn. Res. B 71, 138-157, 2015) is not able to well replicate the evolution concavity in traffic flow, i.e. the standard deviation of vehicles increases in a concave/linear way…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
This article proposes a non-autonomous mathematical model with delay for confrontation between two countries, and examines the stability of its equilibrium state. Our criteria for stability take into account the influence of the factor of…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Lane changing dynamics are an important part of traffic microsimulation and are vital for modeling weaving sections and merge bottlenecks. However, there is often much more emphasis placed on car following and gap acceptance models, whereas…
Interpretable autonomous driving planners depend not only on generating explanations, but also on those explanations remaining reliable under real-world sensor degradation. In this paper we present a controlled perturbation study of…
Race cars are routinely driven to the edge of their handling limits in dynamic scenarios well above 200mph. Similar challenges are posed in autonomous racing, where a software stack, instead of a human driver, interacts within a multi-agent…
We explore the stability properties of multi-field solutions of assisted inflation type, where several fields collectively evolve to the same configuration. In the case of noninteracting fields, we show that the condition for such solutions…
We consider the problem of optimizing the steady state of a dynamical system in closed loop. Conventionally, the design of feedback optimization control laws assumes that the system is stationary. However, in reality, the dynamics of the…
Stochastic feedback systems give rise to a variety of notions of stability. The conditions for the stability of the median, mean, and variance stability conditions differ. These conditions can be stated explicitly for scalar discrete-time…
We consider an asymmetric control of platoons of identical vehicles with nearest-neighbor interaction. Recent results show that if the vehicle uses different asymmetries for position and velocity errors, the platoon has a short transient…
It is known that connected and autonomous vehicles are capable of maintaining shorter headways and distances when they form platoons of vehicles. Thus, such technologies can result in increases in the capacities of traffic networks.…
We investigate a system of coupled oscillators on the circle, which arises from a simple model for behavior of large numbers of autonomous vehicles. The model considers asymmetric, linear, decentralized dynamics, where the acceleration of…
Traffic waves, known also as stop-and-go waves or phantom hams, appear naturally as traffic instabilities, also in confined environments as a ring-road. A multi-population traffic is studied on a ring-road, comprised of drivers with stable…