相关论文: Time-dependent Performance Analysis of the 802.11p…

We consider a graph theoretic approach to the performance and robustness of a platoon of vehicles, where each vehicle communicates with its $k$-nearest neighbors. In particular, we quantify the platoon's stability margin, robustness to…

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 impact of rigid communication topologies (RCTs) on the performance of vehicular platoons, aiming to identify beneficial features in RCTs that enhance vehicles behavior. We introduce four performance metrics,…

We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic modeling is described, and a closed loop String Stability…

With the raising demand for autonomous driving, vehicle-to-vehicle communications becomes a key technology enabler for the future intelligent transportation system. Based on our current knowledge field, there is limited network simulator…

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…

In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…

In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selection of the time headway in predecessor-follower type…

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,…

Vehicle platooning is a cooperative driving technology that can be supported by 5G enhanced Vehicle-to-Everything (eV2X) communication to improve road safety, traffic efficiency, and reduce fuel consumption. eV2X communication among the…

In this paper, a novel approach to spacing policies for vehicle platoons and a framework for control design is presented. Whereas traditional approaches aim to mitigate the effect of actuation and communication delays on the spacing error,…

Wireless 802.11 links operate in unlicensed spectrum and so must accommodate other unlicensed transmitters which generate pulsed interference. We propose a new approach for detecting the presence of pulsed interference affecting 802.11…

In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce…

In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…

Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…

This paper presents a unified string-stability framework for leader-follower multi-agent systems governed by first-, second-, and m-th order consensus protocols operating under an r-predecessor directed communication topology. While string…

Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…

A platoon-based driving is a technology allowing vehicles to follow each other at close distances to, e.g., save fuel. However, it requires reliable wireless communications to adjust their speeds. Recent studies have shown that the…

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…

We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…