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The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
Autonomous driving (auto-driving) has been becoming a killer technology for next generation vehicles, whereas some fatal accidents grow concerns about its safety. A fundamental function for safer auto-driving is to recognize the vehicles'…
Connected and autonomous vehicles (CAVs) will revolutionize tomorrow's intelligent transportation systems, being considered promising to improve transportation safety, traffic efficiency, and mobility. In fact, envisioned use cases of CAVs…
Cooperative Adaptive Cruise Control (CACC) systems are considered as key potential enablers to improve driving safety and traffic efficiency. They allow for automated vehicle following using wireless communication in addition to onboard…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
Hybrid traffic laws represent an innovative approach to managing mixed environments of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs) by introducing separate sets of regulations for each vehicle type. These laws are…
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…
This paper proposes an improved Intelligent driving model (Sigmoid-IDM) to address the problems of excessive acceleration in traffic oscillation and following failure in free flow. The Sigmoid-IDM uses a Sigmoid function to enhance the…
Traffic jams occurring on highways cause increased travel time as well as increased fuel consumption and collisions. Traffic jams without a clear cause, such as an on-ramp or an accident, are called phantom traffic jams and are said to make…
The Thinking Wave is an ongoing development of visualization concepts showing the real-time effort and confidence of semi-autonomous vehicle (AV) systems. Offering drivers access to this information can inform their decision making, and…
While there have been advancements in autonomous driving control and traffic simulation, there have been little to no works exploring their unification with deep learning. Works in both areas seem to focus on entirely different exclusive…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
To deal with the explosive growth of mobile traffic, millimeter-wave (mmWave) communications with abundant bandwidth resources have been applied to vehicular networks. As mmWave signal is sensitive to blockage, we introduce the unmanned…
Connected and Automated Vehicles (CAVs) are highly expected to improve traffic throughput and safety at road intersections, single-track lanes, and construction zones. However, multiple CAVs can block each other and create a mutual deadlock…
Autonomous driving systems present promising methods for congestion mitigation in mixed autonomy traffic control settings. In particular, when coupled with even modest traffic state estimates, such systems can plan and coordinate the…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
This paper presents a new cooperative jamming approach to secure the unmanned aerial vehicle (UAV) communication by leveraging jamming from other nearby UAVs to defend against the eavesdropping. In particular, we consider a two-UAV scenario…
The safety of connected automated vehicles (CAVs) relies on the reliable and efficient raw data sharing from multiple types of sensors. The 5G millimeter wave (mmWave) communication technology can enhance the environment sensing ability of…
Inference of detailed vehicle trajectories is crucial for applications such as traffic flow modeling, energy consumption estimation, and traffic flow optimization. Static sensors can provide only aggregated information, posing challenges in…
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…