相关论文: Time-Discretized Simulation of Vehicle Platoons fo…
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…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…
Platooning is a critical technology to realize autonomous driving. Each vehicle in platoons adopts the IEEE 802.11p standard to exchange information through communications to maintain the string stability of platoons. However, one vehicle…
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 studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and…
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…
This paper addresses the string stabilization of vehicular platooning when stochastic phenomena are inherent in inter-vehicle communication. To achieve this, we first provide two definitions to analytically assess the string stability in…
The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…
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…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
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…
Vehicle-to-vehicle communication is a fundamental requirement in cooperative vehicular systems to achieve high performance while keeping high safety standards. Vehicles periodically exchange critical information with nearby vehicles to…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
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,…
Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits depend on string stability, which dictates how disturbances…
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…
Network systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation con- trol. Especially vehicle platoons are highly investigated and an interesting problem that arises…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
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…