Related papers: On the Constrained CAV Platoon Control Problem
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…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
On-ramp merging areas are deemed to be typical bottlenecks for freeway networks due to the intensive disturbances induced by the frequent merging, weaving, and lane-changing behaviors. The Connected and Autonomous Vehicles (CAVs), benefited…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
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…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
Connected Vehicles (CVs) have the potential to significantly increase the safety, mobility, and environmental benefits of transportation applications. In this research, we have developed a real time adaptive traffic signal control algorithm…
A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
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…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
Platooning on highways with connected and automated vehicles (CAVs) has attracted considerable attention, while how to mange and coordinate platoons in urban networks remains largely an open question. This scientific gap mainly results from…