Related papers: Enhancing Vehicle Platooning Safety via Control No…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
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)…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
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…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Cooperative Adaptive Cruise Control (CACC) is a vehicular technology that allows groups of vehicles on the highway to form in closely-coupled automated platoons to increase highway capacity and safety, and decrease fuel consumption and CO2…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…