相关论文: From Road Congestion to Vehicle-Control Enabled Ar…
We develop a control design for stabilization of traffic flow in congested regime, based on an Aw-Rascle-Zhang-type (ARZ-type) Partial Differential Equation (PDE) model, for traffic consisting of both ACC-equipped (Adaptive Cruise…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
We develop a hierarchical description of traffic flow control by means of driver-assist vehicles aimed at the mitigation of speed-dependent road risk factors. Microscopic feedback control strategies are designed at the level of…
The paper evaluates the influence of the maximum vehicle acceleration and variable proportions of ACC/CACC vehicles on the throughput of an intersection. Two cases are studied: (1) free road downstream of the intersection; and (2) red light…
High-speed signal-free intersections are a novel urban traffic operations enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we…
A novel paradigm for vehicular traffic in the era of connected and automated vehicles (CAVs) is proposed, which includes two combined principles: lane-free traffic and vehicle nudging, whereby vehicles are "pushing" (from a distance, using…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
For the control of connected and autonomous vehicles (CAVs), most existing methods focus on model-based strategies. They require explicit knowledge of car-following dynamics of human-driven vehicles that are non-trivial to identify…
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected…
A recently proposed paradigm for vehicular traffic in the era of CAV (connected and automated vehicles), called TrafficFluid, involves lane-free vehicle movement. Lane-free traffic implies that incremental road widening (narrowing) leads to…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Forward complete systems are guaranteed to have solutions that exist globally for all positive time. In this paper, a relaxed Lyapunov-like condition for forward completeness is presented for finite-dimensional systems defined on open sets…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…