Related papers: Lateral String Stability for Vehicle Platoons: For…
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
This paper addresses the string stabilization of vehicular platooning when stochastic phenomena are inherent in inter-vehicle communication. To achieve this, we first provide two definitions to analytically assess the string stability 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…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for…
In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce…
Network systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation con- trol. Especially vehicle platoons are highly investigated and an interesting problem that arises…
Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…
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…
This paper studies the vehicle platooning system based on vehicle-to-infrastructure (V2I) communication, where all the vehicles in the platoon upload their driving state information to the roadside unit (RSU), and RSU makes the platoon…
Platooning is a critical technology to realize autonomous driving. Each vehicle in platoons adopts the IEEE 802.11p standard to exchange information through communications to maintain the string stability of platoons. However, one vehicle…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles. It is known that string stability cannot be achieved, with any linear controller, when the vehicles' control inputs are based on relative…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…