Related papers: Adaptive Estimation-Based Safety-Critical Cruise C…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
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…
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…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
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…
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…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
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…
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…
As electric vehicles (EVs) are increasingly adopted as platforms for connected and automated vehicles (CAVs), enhancing their energy efficiency becomes critical. With the emergence of vehicle-to-vehicle (V2V) communication, cooperative…
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…
Adaptive Control Lyapunov Functions (aCLFs) were introduced 20 years ago, and provided a Lyapunov-based methodology for stabilizing systems with parameter uncertainty. The goal of this paper is to revisit this classic formulation in the…
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…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
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,…
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) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V2V) wireless communications to exchange information between…