Related papers: Cooperative Adaptive Cruise Control Design and Imp…
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected…
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…
This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot control system architecture with adaptive digital control…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only.…
In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…
Autonomous vehicles are heavily reliant upon their sensors to perfect the perception of surrounding environments, however, with the current state of technology, the data which a vehicle uses is confined to that from its own sensors. Data…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
The Eco-Driving control problem seeks to perform fuel efficient speed planning for a Connected and Autonomous Vehicle (CAV) that can exploit information available from advanced mapping, and from Vehicle-to-Everything (V2X) communication.…
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…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…
Integrated sensing and communication (ISAC) is a promising paradigm to provide both sensing and communication (S&C) services in vehicular networks. However, the power of echo signals reflected from vehicles may be too weak to be used for…
A new federated learning (FL) framework enabled by large-scale wireless connectivity is proposed for designing the autonomous controller of connected and autonomous vehicles (CAVs). In this framework, the learning models used by the…
To enhance the robustness of cooperative driving to cyberattacks, we study a controller-oriented approach to mitigate the effect of a class of False-Data Injection (FDI) attacks. By reformulating a given dynamic Cooperative Adaptive Cruise…
This article presents a new optimal control-based interactive motion planning algorithm for an autonomous vehicle interacting with a human-driven vehicle. The ego vehicle solves a joint optimization problem for its motion planning involving…
Large-scale deployment of autonomous vehicles has been continually delayed due to safety concerns. On the one hand, comprehensive scene understanding is indispensable, a lack of which would result in vulnerability to rare but complex…