Related papers: A new platooning model for connected and autonomou…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…
The autonomous driving industry is expected to grow by over 20 times in the coming decade and, thus, motivate researchers to delve into it. The primary focus of their research is to ensure safety, comfort, and efficiency. An autonomous…
Platooning technology is renowned for its precise vehicle control, traffic flow optimization, and energy efficiency enhancement. However, in large-scale mixed platoons, vehicle heterogeneity and unpredictable traffic conditions lead to…
Truck platooning is a promising transportation mode in which several trucks drive together and thus save fuel consumption by suffering less air resistance. In this paper, we consider a truck platooning system for which we jointly optimize…
Connected and Automated Vehicles (CAVs) have received a lot of attention in recent years. However, there are still numerous challenges in this field. In this paper, we investigated the effects of dynamic-flexible platooning on travel time…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a…
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
In hybrid traffic environments where human-driven vehicles (HDVs) and autonomous vehicles (AVs) coexist, achieving safe and robust decision-making for AV platooning remains a complex challenge. Existing platooning systems often struggle…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
We study a hierarchy of models based on kinetic equations for the descriptions of traffic flow in presence of autonomous and human--driven vehicles. The autonomous cars considered in this paper are thought of as vehicles endowed with some…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
As the automotive industry is developing autonomous driving systems and vehicular networks, attention to truck platooning has increased as a way to reduce costs (fuel consumption) and improve efficiency in the highway. Recent research in…