Related papers: Modelling supported driving as an optimal control …
The paper introduces a new bidirectional microscopic inviscid Adaptive Cruise Control (ACC) model that uses only spacing information from the preceding and following vehicles in order to select the proper control action to avoid collisions…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
To properly assess the impact of (cooperative) adaptive cruise control ACC (CACC), one has to model vehicle dynamics. First of all, one has to choose the car following model, as it determines the vehicle flow as vehicles accelerate from…
Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…
Traffic waves, the spatiotemporal propagation of congestion, are a key feature of traffic flow. As Adaptive Cruise Control (ACC) systems gain widespread adoption and show promise for improving both efficiency and safety, understanding how…
We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan -- an alternate trajectory to avert an identified potential…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
A critical analysis of the effect of autonomous driving vehicles on traffic breakdown in mixed traffic flow is made. Classical adaptive cruise control (ACC) and ACC based on three-phase traffic theory (TPACC) are considered. We show that…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Automated vehicles are gradually entering people's daily life to provide a comfortable driving experience for the users. The generic and user-agnostic automated vehicles have limited ability to accommodate the different driving styles of…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
Adaptive cruise control (ACC) vehicles are the first step toward comprehensive vehicle automation. However, the impacts of such vehicles on the underlying traffic flow are not yet clear. Therefore, it is of interest to accurately model…
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling highly complex dynamics and ensuring realtime control…
Commercial Adaptive Cruise Control (ACC) systems are increasingly available as standard options in modern vehicles. At the same time, still little information is openly available on how these systems actually operate and how different is…
Evidence in the literature shows that automated and human driving modes demonstrate different driving characteristics, i.e., headway policy, spacing policy, reaction time, comfortable acceleration, and others. These differences alter…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…
We present results of numerical simulations of the effect of driver behavior on spatiotemporal congested traffic patterns that result from traffic breakdown at an on-ramp bottleneck. The simulations are made with the Kerner-Klenov…
We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon control framework in which a model predictive control (MPC)…