相关论文: A Learning-based Stochastic MPC Design for Coopera…

For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…

Adaptive Cruise Control (ACC) is an Advanced Driver Assistance System (ADAS) that enables vehicle following with desired inter-vehicular distances. Cooperative Adaptive Cruise Control (CACC) is upgraded ACC that utilizes additional…

The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…

This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…

This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…

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…

Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…

Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…

Adaptive Cruise Control (ACC) is a widely used driver assistance technology for maintaining the desired speed and safe distance to the leading vehicle. This paper evaluates the security of the deep neural network (DNN) based ACC systems…

The autonomous driving industry is rapidly advancing, with Vehicle-to-Vehicle (V2V) communication systems highlighting as a key component of enhanced road safety and traffic efficiency. This paper introduces a novel Real-time…

Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs is the so-called cooperative adaptive cruise control (CACC)…

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…

Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…

Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…

Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…

The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…

This paper proposes a new strategy for collision avoidance system leveraging Time-to-Collision (TTC) metrics for handling cut-in scenarios, which are particularly challenging for autonomous vehicles (AVs). By integrating a deep learning…

Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…

Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…