Related papers: Model based string stability of adaptive cruise co…
The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to provide strong guarantees of safety and performance under all…
This paper presents the state of the art of Adaptive Cruise Control (ACC) and Stop and Go systems as well as Intelligent Transportation Systems enhanced with inter vehicle communication. The sensors used in these systems and the level of…
In this paper a novel platoon model is presented. Nonlinear aerodynamic effects, such as the wake generated by the preceding vehicle, are considered, and their influence in the set up of a Adaptive Cruise Controller (ACC) is investigated.…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding…
We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a…
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…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
Connectivity in ground vehicles allows vehicles to share crucial vehicle data, such as vehicle acceleration, with each other. Using sensors such as cameras, radars and lidars, on the other hand, the intravehicular distance between a leader…
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…
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 studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
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…
In the realm of driving technologies, fully autonomous vehicles have not been widely adopted yet, making advanced driver assistance systems (ADAS) crucial for enhancing driving experiences. Adaptive Cruise Control (ACC) emerges as a pivotal…
We present a novel adaptive cruise control (ACC) system namely SAINT-ACC: {S}afety-{A}ware {Int}elligent {ACC} system (SAINT-ACC) that is designed to achieve simultaneous optimization of traffic efficiency, driving safety, and driving…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
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…
Security of Intelligent Transportation Systems (ITS) heavily depends on the security of the underlying components that create such a smart ecosystem. Adaptive Cruise Control (ACC) is embedded into most modern vehicles. In this report, we…
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…
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…