相关论文: Distributed Attack-Resilient Platooning Against Fa…
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…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. However, most existing control strategies assume linear system…
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…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
This note proposes a distributed model predictive control (DMPC) scheme with switched cost functions for a class of spatially interconnected systems with communication constraints. Non-iterative and parallel communication strategy is…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V2V) wireless communications to exchange information between…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
Shared autonomous electric vehicles can provide on-demand transportation for passengers while also interacting extensively with the electric distribution system. This interaction is especially beneficial after a disaster when the large…
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)…
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…
Cooperative Adaptive Cruise Control (CACC) is a pivotal vehicular application that would allow transportation field to achieve its goals of increased traffic throughput and roadway capacity. This application is of paramount interest to the…