Related papers: Resilient Cooperative Adaptive Cruise Control for …
Cooperative adaptive cruise control (CACC) has been recognized as a fundamental function of autonomous driving, in which platoon stability and energy efficiency are outstanding challenges that are difficult to accommodate in real-world…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
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…
Advanced Driver Assistance Systems (ADAS) are increasingly important in improving driving safety and comfort, with Adaptive Cruise Control (ACC) being one of the most widely used. However, pre-defined ACC settings may not always align with…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for…
Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…
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…
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…
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…
In this paper, we design a safe and efficient cruise control for the connected automated vehicle with access to motion information from multiple vehicles ahead via vehicle-to-vehicle (V2V) communication. Position and velocity data collected…
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…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…