相关论文: Cooperative Control of Heterogeneous Connected Veh…

The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…

The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate…

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…

This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…

This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…

A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…

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…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…

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 investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…

Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…

In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…

Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…

In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…

This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that…

We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…

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)…

Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…

Compared with traditional vehicle longitudinal spacing control strategies, the combination spacing strategy can integrate the advantages of different spacing control strategies. However, the impact mechanism of different combination spacing…