Related papers: Are commercially implemented adaptive cruise contr…
Cooperative Adaptive Cruise Control (CACC) is a well-studied technology for forming string-stable vehicle platoons. Ensuring collision avoidance is particularly difficult in CACC due to the small desired inter-vehicle spacing. We propose a…
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control…
Adaptive Cruise Control (ACC) systems have been widely commercialized in recent years. However, existing ACC systems remain vulnerable to close-range cut-ins, a behavior that resembles "road bullying". To address this issue, this research…
This paper deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet…
It is estimated that 90% of crashes occur due to human error, mainly induced by poor judgement, distraction or lack of situation awareness. The development of systems that aim to increase road safety and to improve driving comfort is the…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is…
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…
We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with…
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…
Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…
Adaptive Cruise Control (ACC) is an Advanced Driver Assistance System (ADAS) that enables vehicle following with desired inter-vehicular distances. Cooperative Adaptive Cruise Control (CACC) is upgraded ACC that utilizes additional…
This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for…
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…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
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…
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…
This study presents an analytical solution for the vehicle state evolution of Adaptive Cruise Control (ACC) systems under cut-in scenarios, incorporating sensing delays and anticipation using the Lambert W function. The theoretical analysis…
The automated vehicle (AV) equipped with the Adaptive Cruise Control (ACC) system is expected to reduce the fuel consumption for the intelligent transportation system. This paper presents the Advanced ACC-Micro (AA-Micro) model, a new…
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.…