Related papers: Complex dynamics in a vehicle platoon with nonline…
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…
As the development of autonomous vehicles rapidly advances, the use of convoying/platooning becomes a more widely explored technology option for saving fuel and increasing the efficiency of traffic. In cooperative adaptive cruise control…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
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…
This paper investigates the accuracy and robustness of car-following (CF) and adaptive cruise control (ACC) models used to simulate measured driving behaviour of commercial ACCs. To this aim, a general modelling framework is proposed, in…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V2V) wireless communications to exchange information between…
Experimental measurements on commercial adaptive cruise control (ACC) vehicles \RoundTwo{are} becoming increasingly available from around the world, providing an unprecedented opportunity to study the traffic flow characteristics that arise…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
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…
This paper presented a deep reinforcement learning method named Double Deep Q-networks to design an end-to-end vision-based adaptive cruise control (ACC) system. A simulation environment of a highway scene was set up in Unity, which is a…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
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…
This article is motivated by the lack of empirical data on the performance of commercially available Society of Automotive Engineers level one automated driving systems. To address this, a set of car following experiments are conducted to…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
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…
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…