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Cooperative Adaptive Cruise Control (CACC) is a pivotal vehicular application that would allow transportation field to achieve its goals of increased traffic throughput and roadway capacity. This application is of paramount interest to the…
Transportation system is facing a sharp disruption since the Connected Autonomous Vehicles (CAVs) can free people from driving and provide good driving experience with the aid of Vehicle-to-Vehicle (V2V) communications. Although CAVs bring…
Cooperative and Adaptive Cruise Control (CACC) is widely focused to enhance driving fuel-efficiency by maintaining a close following gap. The ecology of CACC could be further enhanced by adapting to the rolling terrain. However, current…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
A critical analysis of the effect of autonomous driving vehicles on traffic breakdown in mixed traffic flow is made. Classical adaptive cruise control (ACC) and ACC based on three-phase traffic theory (TPACC) are considered. We show that…
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…
Adaptive cruise control (ACC) vehicles are the first step toward comprehensive vehicle automation. However, the impacts of such vehicles on the underlying traffic flow are not yet clear. Therefore, it is of interest to accurately model…
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…
Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…
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…
This paper presents a personalized adaptive cruise control (PACC) design that can learn driver behavior and adaptively control the semi-autonomous vehicle (SAV) in the car-following scenario, and investigates its impacts on mixed traffic.…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of…
This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…
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…
Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback…