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This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
Connectivity in connected and autonomous vehicles (CAVs) introduces vulnerability to cyber threats such as false data injection (FDI) attacks, which can compromise system reliability and safety. To ensure resilience, this paper proposes a…
Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However,…
Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
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…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
While automated vehicles (AVs) are expected to revolutionize future transportation systems, emerging AV technologies open a door for malicious actors to compromise intelligent vehicles. As the first generation of AVs, adaptive cruise…
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…
Cooperative Adaptive Cruise Control (CACC) systems are considered as key potential enablers to improve driving safety and traffic efficiency. They allow for automated vehicle following using wireless communication in addition to onboard…
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular platoons with heterogeneous vehicles,…
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…
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…