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

We consider the ramp metering problem for a freeway stretch modeled by the Cell Transmission Model. Assuming perfect model knowledge and perfect traffic demand prediction, the ramp metering problem can be cast as a finite horizon optimal…

This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…

In this work, we propose a framework to learn feedback control policies with guarantees on closed-loop generalization and adversarial robustness. These policies are learned directly from expert demonstrations, contained in a dataset of…

This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…

The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…

Intersections are the bottlenecks of the urban road system because an intersection's capacity is only a fraction of the flows that the roads connecting to the intersection can carry. This capacity can be increased if vehicles can cross the…

We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…

This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…

Speeding has been and continues to be a major contributing factor to traffic fatalities. Various transportation agencies have proposed speed management strategies to reduce the amount of speeding on arterials. While there have been various…

We consider a hub-based platoon coordination problem in which vehicles arrive at a hub according to an independent and identically distributed stochastic arrival process. The vehicles wait at the hub, and a platoon coordinator, at each…

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)…

Considering high speed following on expressway or highway, an improved car-following model is developed in this paper by introducing variable safety headway distance. Stability analysis of the new model is carried out using the control…

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…

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…

Capacity drop is an empirically observed phenomenon in vehicular traffic flow on freeways whereby, after a critical density is reached, a state of congestion sets in, but the freeway does not become decongested again until the density drops…

Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…