Related papers: Lateral String Stability for Vehicle Platoons: For…
In this paper, we study (homogeneous) predecessor-following platoons in which the vehicle-to-vehicle (V2V) communications are affected by random packet losses. We model the overall platoon as a stochastic hybrid system and analyse its…
This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and…
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…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
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…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of the fatalities in road accidents, making the development of…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular platoons with heterogeneous vehicles,…
This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for…
In this paper, we study the internal stability and string stability of a vehicle platoon under the constant time headway spacing (CTHS) policy and the multiple-predecessor-following (MPF) vehicle-to-vehicle information flow topology. More…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
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 a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…