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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…
The emergence of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic where human-driven vehicles (HDVs) also exist, existing research mostly focuses on "looking ahead" (i.e., the CAVs receive information…
This paper develops a computational framework based on a car-following model to study traffic instability and lane changes. Building upon Newell's classical first-order car-following model, we show that, both analytically and numerically,…
In this study, the connected and automated vehicles (CAVs) platooning problem is resolved under a differential game framework. Three information topologies are considered here. Firstly, Predecessor-following (PF) topology is utilized where…
This paper is concerned with the stability analysis of continuous-time switched systems with a random switching signal. The switching signal manifests its characteristics with that the dwell time in each subsystem consists of a fixed part…
802.11p based V2X communication uses stochastic medium access control, which cannot prevent broadcast packet collision, in particular during high channel load. Wireless congestion control has been designed to keep the channel load at an…
Large steps are being taken by the industry and R&D organizations in automated driving technology development, as well as in setting up appropriate scenario-based safety assessment methods. In this paper a concept framework is proposed for…
Cellular vehicular-to-everything (C-V2X) systems offer the potential for improving road safety, in part through the exchange of periodic basic safety messages (BSMs) between nearby vehicles. The reliability and latency of these messages is…
Platooning within autonomous vehicles has proven effective in addressing driver shortages and reducing fuel consumption. However, as platooning lengths increase, traditional C-V2X (cellular vehicle-to-everything) architectures are…
In this paper, we address the joint optimization of fleet size and mix, along with vehicle routing, under uncertain customer demand. We propose a two-stage stochastic mixed-integer programming model, where first-stage decisions concern the…
In this work we investigate time varying networks with complex dynamics at the nodes. We consider two scenarios of network change in an interval of time: first, we have the case where each link can change with probability pt, i.e. the…
In a platoon, multiple autonomous vehicles engage in data exchange to navigate toward their intended destination. Within this network, a designated leader shares its status information with followers based on a predefined communication…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
In vehicle-to-everything (V2X) communications, reliability is one of the most important performance metrics in safety-critical applications such as advanced driving, remote driving, and vehicle platooning. In this paper, the link…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
We study the problem of system identification for stochastic continuous-time dynamics, based on a single finite-length state trajectory. We present a method for estimating the possibly unstable open-loop matrix by employing properly…
We study networked control of non-linear systems where system states and tentative plant input sequences are transmitted over unreliable communication channels. The sequences are calculated recursively by using a pre-designed nominally…
This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the…
The fluid model has proven to be one of the most effective tools for the analysis of stochastic queueing networks, specifically for the analysis of stability. It is known that stability of a fluid model implies positive (Harris) recurrence…
This paper investigates the problem of dynamic event-triggered platoon control for intelligent vehicles (IVs) under denial of service (DoS) attacks and parameter uncertainty. DoS attacks disrupt vehicle-to-vehicle (V2V) communications,…