Related papers: Estimating adaptive cruise control model parameter…
For systems with uncertain linear models, bounded additive disturbances and state and control constraints, a robust model predictive control algorithm incorporating online model adaptation is proposed. Sets of model parameters are…
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…
Radar sensors have become an important part of the perception sensor suite due to their long range and their ability to work in adverse weather conditions. However, several shortcomings such as large amounts of noise and extreme sparsity of…
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…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
Situational awareness in vehicular networks could be substantially improved utilizing reliable trajectory prediction methods. More precise situational awareness, in turn, results in notably better performance of critical safety…
We present a predictive cruise controller which iteratively improves the fuel economy of a vehicle traveling along the same route every day. Our approach uses historical data from previous trip iterations to improve vehicle performance…
The paper evaluates the influence of the maximum vehicle acceleration and variable proportions of ACC/CACC vehicles on the throughput of an intersection. Two cases are studied: (1) free road downstream of the intersection; and (2) red light…
The precise estimation of macroscopic traffic parameters, such as travel time and fuel consumption, is essential for the optimization of traffic management systems. Despite its importance, the comprehensive acquisition of vehicle trajectory…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
We present here a first prototype of a "Speed Limit Support" Advance Driving Assistance System (ADAS) producing permanent reliable information on the current speed limit applicable to the vehicle. Such a module can be used either for…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
Estimating the speed of vehicles using traffic cameras is a crucial task for traffic surveillance and management, enabling more optimal traffic flow, improved road safety, and lower environmental impact. Transportation-dependent systems,…
Calibration and validation techniques are crucial in assessing the descriptive and predictive power of car-following models and their suitability for analyzing traffic flow. Using real and generated floating-car and trajectory data, we…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
This paper studies cooperative adaptive cruise control (CACC) for vehicle platoons with consideration of the unknown nonlinear vehicle dynamics that are normally ignored in the literature. A unified data-driven CACC design is proposed for…
This paper develops an adaptive state tracking control scheme for discrete-time systems, using the least-squares algorithm, as the new solution to the long-standing discrete-time adaptive state tracking control problem to which the Lyapunov…
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…