相关论文: Lateral String Stability in Autonomous & Connected…

The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State…

In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…

Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…

Uncertainty in decision-making is crucial in the machine learning model used for a safety-critical system that operates in the real world. Therefore, it is important to handle uncertainty in a graceful manner for the safe operation of the…

Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under exploration.however, it has been proved that by introducing Connected Automated Vehicles(CAVs) with carefully designed…

In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…

Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…

Cooperative Adaptive Cruise Control (CACC) is considered as a key enabling technology to automatically regulate the inter-vehicle distances in a vehicle platoon to improve traffic efficiency while maintaining safety. Although the wireless…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…

We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…

Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…

One challenging aspect of the Connected and Automated Vehicle (CAV) operation in mixed traffic is the development of a situation-awareness module for CAVs. While operating on public roads, CAVs need to assess their surroundings, especially…

This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control of a vehicle. To this extent, two different artificial…

Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…

This paper proposes a novel method for multi-lane convoy formation control that uses large language models (LLMs) to tackle coordination challenges in dynamic highway environments. Each connected and autonomous vehicle in the convoy uses a…

Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…

In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…

Inter-vehicle communication (IVC) enables vehicles to exchange messages within a limited broadcast range and thus self-organize into dynamical vehicular ad hoc networks. For the foreseeable future, however, a direct connectivity between…