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Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…

This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for…

This paper addresses the string stabilization of vehicular platooning when stochastic phenomena are inherent in inter-vehicle communication. To achieve this, we first provide two definitions to analytically assess the string stability in…

This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…

In this paper, we investigate the selection of time headway to ensure robust string stability in connected and autonomous vehicle platoons in the presence of signal noise in Vehicle-to-Vehicle (V2V) communication. In particular, we consider…

This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…

This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and…

Cooperative driving systems, such as platooning, rely on communication and information exchange to create situational awareness for each agent. Design and performance of control components are therefore tightly coupled with communication…

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 studies the vehicle platooning system based on vehicle-to-infrastructure (V2I) communication, where all the vehicles in the platoon upload their driving state information to the roadside unit (RSU), and RSU makes the platoon…

Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…

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…

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…

Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits depend on string stability, which dictates how disturbances…

Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…

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…

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…

A problem with considering correlations in the analysis of multiagent system with stochastic packet loss is that they induce dependencies between agents that are otherwise decoupled, preventing the application of decomposition methods…

This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…

Vehicular platooning is a promising way to facilitate efficient movement of vehicles with a shared route. Despite its relevance, the interplay of platooning and the communication performance in the resulting vehicular network (VN) is…