相关论文: Improving the Design of Linear Controllers for Hom…
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…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…
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…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…
Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topologies. However, it is beneficial to design both the…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
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…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
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…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
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…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
The Intelligent Driver Model is studied and several drawbacks with respect to driving simulators are defined. We present two modifications of the IDM. The first one gives any predefined distance to the leading vehicle in a steady state. The…
Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…
Platooning is a critical technology to realize autonomous driving. Each vehicle in platoons adopts the IEEE 802.11p standard to exchange information through communications to maintain the string stability of platoons. However, one vehicle…
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…
The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the…