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This contribution analyzes the widely used and well-known "intelligent driver model (briefly IDM), which is a second order car-following model governed by a system of ordinary differential equations. Although this model was intensively…
Internal combustion engine (ICE) vehicles and electric vehicles (EVs) exhibit distinct vehicle dynamics. EVs provide rapid acceleration, with electric motors producing peak power across a wider speed range, and achieve swift deceleration…
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…
Adaptive Cruise Control (ACC) is rapidly proliferating across electric vehicles (EVs) and internal combustion engine (ICE) vehicles, enhancing traffic flow while simultaneously expanding the attack surface for communication-based…
The advancement of vehicle automation and the growing adoption of electric vehicles (EVs) are reshaping transportation systems. While fully automated vehicles are expected to improve traffic stability, efficiency, and sustainability, recent…
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,…
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…
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…
With the advent of vehicles equipped with advanced driver-assistance systems, such as adaptive cruise control (ACC) and other automated driving features, the potential for cyberattacks on these automated vehicles (AVs) has emerged. While…
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…
Understanding the effect of road geometry on human driving behaviour is essential for both road safety studies and traffic microsimulation. Research on this topic is still limited, mainly focusing on free-flow traffic and not adequately…
For the control of connected and autonomous vehicles (CAVs), most existing methods focus on model-based strategies. They require explicit knowledge of car-following dynamics of human-driven vehicles that are non-trivial to identify…
This paper proposes an adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of autonomous cruise control (ACC) systems. The proposed method utilizes two separate models to define the constrained receding…
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…
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…
Car following (CF) models are fundamental to describing traffic dynamics. However, the CF behavior of human drivers is highly stochastic and nonlinear. As a result, identifying the best CF model has been challenging and controversial…
The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…
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…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
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…