相关论文: Significance of Low-level Controller for String St…
An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…
Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the…
In light of the recent humongous growth of the human population worldwide, there has also been a voluminous and uncontrolled growth of vehicles, which has consequently increased the number of road accidents to a large extent. In lieu of a…
Cooperative Adaptive Cruise Control (CACC) systems are considered as key potential enablers to improve driving safety and traffic efficiency. They allow for automated vehicle following using wireless communication in addition to onboard…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
With an increasing number of vehicles equipped with adaptive cruise control (ACC), the impact of such vehicles on the collective dynamics of traffic flow becomes relevant. By means of simulation, we investigate the influence of variable…
Cooperative Adaptive Cruise Control (CACC) is considered as a key enabling technology to automatically regulate the inter-vehicle distances in a vehicle platoon to improve traffic efficiency while maintaining safety. Although the wireless…
A suboptimal active disturbance rejection controller (S-ADRC) is proposed for second-order systems with unknown time-varying nonlinear dynamics. The output-feedback controller guarantees a global convergence to the vicinity of an optimal…
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,…
Electromechanical relays and contactors suffer from strong collisions at the end of the switching operations. This causes several undesirable phenomena, such as clicking, mechanical wear and contact bounce. Thus, there is great interest in…
This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
Reinforcement learning (RL)-based adaptive cruise control systems (ACC) that learn and adapt to road, traffic and vehicle conditions are attractive for enhancing vehicle energy efficiency and traffic flow. However, the application of RL in…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
The paper introduces a new bidirectional microscopic inviscid Adaptive Cruise Control (ACC) model that uses only spacing information from the preceding and following vehicles in order to select the proper control action to avoid collisions…