Related papers: Data-driven dual-loop control for platooning mixed…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
A frequency based data-driven control design considering mixed H2/H-infinity control objectives is developed for multiple input-single output systems. The main advantage of the data-driven control over the model-based control is its ability…
Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…
Compared with traditional vehicle longitudinal spacing control strategies, the combination spacing strategy can integrate the advantages of different spacing control strategies. However, the impact mechanism of different combination spacing…
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…
The impact of Vehicle-to-Everything (V2X) communications on platoon control performance is investigated. Platoon control is essentially a sequential stochastic decision problem (SSDP), which can be solved by Deep Reinforcement Learning…
Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…
To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
As a strategy to reduce travel delay and enhance energy efficiency, platooning of connected and autonomous vehicles (CAVs) at non-signalized intersections has become increasingly popular in academia. However, few studies have attempted to…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
Platooning and coordination are two implementation strategies that are frequently proposed for traffic control of connected and autonomous vehicles (CAVs) at signal-free intersections instead of using conventional traffic signals. However,…
Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for…
Recent work has considered personalized route planning based on user profiles, but none of it accounts for human trust. We argue that human trust is an important factor to consider when planning routes for automated vehicles. This paper…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…