相关论文: String stability and guaranteed safety via funnel …

We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…

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…

In this paper, a novel approach to spacing policies for vehicle platoons and a framework for control design is presented. Whereas traditional approaches aim to mitigate the effect of actuation and communication delays on the spacing error,…

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…

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…

A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…

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…

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…

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…

The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…

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…

This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…

This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles. It is known that string stability cannot be achieved, with any linear controller, when the vehicles' control inputs are based on relative…

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…

Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…

We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal…

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…

This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through…

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…