相关论文: Stochastic Lp string stability analysis in predece…

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 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…

A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and…

We explore a new approach to radio resource allocation for vehicle-to-vehicle (V2V) communications in case of out-of-coverage areas that are delimited by network infrastructure. By collecting and predicting information such as vehicle…

Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…

In this paper, we investigate the benefits of Vehicle-to-Vehicle (V2V) communication for autonomous vehicles and provide results on how V2V information helps reduce employable time headway in the presence of parasitic lags. For a string of…

This paper studies the stability and $\mathcal{H}_{\infty}$ performance analysis problem for linear networked and quantized control systems with both communication delays random packet losses. To deal with the network-induced uncertainties…

We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…

Port-Hamiltonian systems are pertinent representations of many nonlinear physical systems. In this study, we formulate and analyse a general class of stochastic car-following models with a systematic port-Hamiltonian structure. The model…

The 3rd Generation Partnership Project released the cellular vehicular-to-everything (C-V2X) specifications as part of the LTE framework in Release 14. C-V2X is the alternative to dedicated short range communications and both are…

The highway vehicular ad hoc networks, where vehicles are wirelessly inter-connected, rely on the multi-hop transmissions for end-to-end communications. This, however, is severely challenged by the unreliable wireless connections, signal…

We study a system of particles moving on a line in the same direction. Passing is allowed and when a fast particle overtakes a slow particle, it acquires a new velocity drawn from a distribution P_0(v), while the slow particle remains…

Vehicular communications have stringent latency requirements on safety-critical information transmission. However, lack of instantaneous channel state information due to high mobility poses a great challenge to meet these requirements and…

In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…

This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…

Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a…

We develop a systemic risk framework to explore cascading systemic failures in networked control systems. A time-delayed version of the vehicle platooning problem is used as a benchmark to study the interplay among network connectivity,…

We investigate the stability problem for discrete-time stochastic switched linear systems under the specific scenarios where information about the switching patterns and the probability of switches are not available. Our analysis focuses on…

An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…

In a self-driving environment, vehicles communicate with each other to create a closely spaced multiple vehicle strings on a highway, i.e., high-density vehicle platooning (HDVP). In this paper, we address the Cellular Vehicle to Everything…