相关论文: Robust Lateral Control of a Convoy of Autonomous &…

With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating the…

It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

In transportation networks, intersections pose significant risks of collisions due to conflicting movements of vehicles approaching from different directions. To address this issue, various tools can exert influence on traffic safety both…

Connected and automated vehicle (CAV) technology is one of the promising solutions to addressing the safety, mobility and sustainability issues of our current transportation systems. Specifically, the control algorithm plays an important…

Autonomous connected vehicles (ACVs) rely on intra-vehicle sensors such as camera and radar as well as inter-vehicle communication to operate effectively. This reliance on cyber components exposes ACVs to cyber and physical attacks in which…

Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…

In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…

Cooperative Adaptive Cruise Control (CACC) is a well-studied technology for forming string-stable vehicle platoons. Ensuring collision avoidance is particularly difficult in CACC due to the small desired inter-vehicle spacing. We propose a…

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…

Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…

Traditionally, evaluation of intersection safety has been largely reactive, based on historical crash frequency data. However, the emerging data from Connected and Automated Vehicles (CAVs) can complement historical data and help in…

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…

This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…

In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…

Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…

Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…

In this paper, we present the first experimental results of data-driven predictive control for connected and autonomous vehicles (CAVs) in dissipating traffic waves. In particular, we consider a recent strategy of Data-EnablEd Predicted…

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…