相关论文: Platooning in the Presence of a Speed Drop: A Gene…

Time delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current…

Recent studies on transportation networks have shown that real-time route guidance can inadvertently induce congestion or oscillatory traffic patterns. Nevertheless, such technologies also offer a promising opportunity to manage traffic…

The main objective of tracking control is to steer the tracking error, that is the difference between the reference and the output, to zero while the plant's operation limits are satisfied. This requires that some assumptions on the…

A general and psychologically plausible collision avoidance driver model can improve transportation safety significantly. Most computational driver models found in the literature have used control theory methods only, and they are not…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

We propose a simple and effective method to derive the Fundamental Diagram (FD) from platoon vehicle trajectories. Average traffic state variables are computed using Edie's generalized definitions within time-dependent trapezoidal…

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…

Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…

Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…

This study revisits a recently proposed symmetric port-Hamiltonian single-file model in one dimension. The uniform streaming solutions are stable in the deterministic model. However, the introduction of white noise into the dynamics causes…

Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

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…

Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…

This paper applies a classical physics-based model to control platooning AVs in a commercial traffic simulation software. In Spring-Mass-Damper model, each vehicle is assumed as a mass coupled with its preceding vehicle with a spring and a…

Robust and accurate calibration of macroscopic traffic flow models such as METANET is critical for reliable prediction and effective control. While gradient-based methods are desirable for high-dimensional parameter spaces, their…

Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…

Achieving safety is a critical aspect of attaining autonomy in a platoon of autonomous vehicles. In this paper, we propose a distributionally robust risk framework to investigate cascading failures in platoons. To examine the impact of…

Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…