相关论文: Data-driven dual-loop control for platooning mixed…

In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning system for automated driving, and is extensively validated in…

Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predictive control (HDDPC) framework, an extension of the…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Data-driven cooperative control of connected and automated vehicles (CAVs) has gained extensive research interest as it can utilize collected data to generate control actions without relying on parametric system models that are generally…

In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of…

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

Vehicle platooning facilitates the partial automation of vehicles and can significantly reduce fuel consumption. Mobile communication infrastructure makes it possible to dynamically coordinate the formation of platoons en route. We consider…

Optimization with preference feedback is an active research area with many applications in engineering systems where humans play a central role, such as building control and autonomous vehicles. While most existing studies focus on…

Understanding the interdependence between autonomous and human-operated vehicles remains an ongoing challenge, with significant implications for the safety and feasibility of autonomous driving.This interdependence arises from inherent…

The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…

In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom…

Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…

Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…

This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…

In the realm of autonomous vehicles, dynamic user preferences are critical yet challenging to accommodate. Existing methods often misrepresent these preferences, either by overlooking their dynamism or overburdening users as humans often…

We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

We present a work-in-progress approach to improving driver attentiveness in cars provided with automated driving systems. The approach is based on a control loop that monitors the driver's biometrics (eye movement, heart rate, etc.) and the…

Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-driving…