In addition to decentralized controllers, the information flow among vehicles can significantly affect dynamics of a platoon. This paper studies influence topology on internal stability and scalability homogeneous vehicular platoons moving in rigid formation. A linearized vehicle longitudinal dynamic model is derived using exact feedback linearization technique, which accommodates inertial delay powertrain dynamics. Directed graphs are adopted describe different types allowable...

This paper presents a novel vehicular adaptive cruise control (ACC) system that can comprehensively address issues of tracking capability, fuel economy and driver desired response. A hierarchical architecture is utilized in which lower controller compensates for nonlinear vehicle dynamics enables acceleration. The upper synthesized under the framework model predictive (MPC) theory. quadratic cost function developed considers contradictions between minimal error, low consumption accordance...

This paper presents an object classification method for vision and light detection ranging (LIDAR) fusion of autonomous vehicles in the environment. is based on convolutional neural network (CNN) image upsampling theory. By creating a point cloud LIDAR data converting into pixel-level depth information, information connected with Red Green Blue fed deep CNN. The proposed can obtain informative feature representation vehicle environment using integrated data. also adopted to guarantee both...

Vehicle trajectory prediction helps automated vehicles and advanced driver-assistance systems have a better understanding of traffic environment perform tasks such as criticality assessment in advance. In this study, an integrated vehicle method is proposed by combining physics- maneuver-based approaches. These two methods were combined for the reason that physics-based could ensure accuracy short term with consideration running dynamic parameters, approach has long-term insight into future...

Vehicle driving safety is influenced by many factors, including drivers, vehicles, and road environments. The interactions among them are quite complex. Consequently, existing methods that evaluate perform inadequately because they only consider limited factors their interactions. As such, it difficult for kinematics-based dynamics-based vehicle assistant systems to adapt increasingly complex traffic In this paper, we propose a new concept, i.e., <bold...

A prototype of a longitudinal driving-assistance system, which is adaptive to driver behavior, developed. Its functions include cruise control and forward collision warning/avoidance. The research data came from car-following tests in real traffic environments. Based on the analysis, model imitating driver's operation established generate desired throttle depression braking pressure. Algorithms for warning automatic activation are designed based pedal deflection timing during approach (gap...

Signalized intersections play an important role in transportation efficiency and vehicle fuel economy urban areas. This paper proposes a cooperative method of traffic signal control speed optimization for connected automated vehicles, which optimizes the timing vehicles' trajectories at same time. The consists two levels, i.e., roadside onboard control. former calculates optimal arrival time to minimize total travel all vehicles; latter engine power brake force consumption individual...

The platooning of autonomous ground vehicles has potential to largely benefit the road traffic, including enhancing highway safety, improving traffic utility and reducing fuel consumption. main goal platoon control is ensure all in same group move at consensual speed while maintaining desired spaces between adjacent vehicles. This paper presents an overview vehicular techniques from networked perspective, which naturally decomposes a into four interrelated components, i.e., 1) node dynamics...

Fuel consumption of traditional ground vehicles is significantly affected by how the are driven. This paper focuses on servo-loop control design a Pulse-and-Gliding (PnG) strategy to minimize fuel in automated car following. A switching-based framework proposed for real-time implementation. The corresponding controller was synthesized ideal conditions and subsequently enhanced compensate practical factors such as powertrain dynamics, speed variations, plant uncertainties. Simulations both...

Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed systems, which has been demonstrated by multiple numerical simulations field experiments. However, some fundamental properties of flow, including controllability stabilizability, not well understood. This paper analyzes the systems designs system-level optimal control strategy. Using Popov-Belevitch-Hautus (PBH) criterion, we prove for first time that ring-road system with one CAV...

A recent design issue of adaptive cruise control systems is how to reduce fuel consumption when following a preceding vehicle. High economy achievable through reducing acceleration level, however, it also significantly restrained by two other functional demands, track capability and driver desired response. In the framework multi-objective coordination, this paper develops experimentally validates an economy-oriented headway algorithm for passenger car with internal combustion engine. The...

The platooning of autonomous vehicles can significantly benefit road traffic. Most previous studies on platoon control have only focused specific communication topologies, especially those with real eigenvalues. This paper extends existing distributed to more generic topologies complex eigenvalues, including both internal stability analysis and linear controller synthesis. Linear dynamics are derived using an inverse vehicle model compensation, graph theory is employed the topology, leading...

This paper presents a shared control driver assistance system based on the driving intention identification and situation assessment to avoid obstacles. A constrained linear-time-varying model predictive controller is designed follow obstacle-avoidance path, which obtained by artificial potential method in real time. human driver's desired maneuver are recognized inductive multilabel classification with an unlabeled data approach that trained lateral offset velocity road center line. In...

Besides automated controllers, the information flow among vehicles can significantly affect dynamics of a platoon. This paper studies influence topology on closed-loop stability homogeneous vehicular platoon moving in rigid formation. A linearized vehicle longitudinal dynamic model is derived using exact feedback linearization technique, which accommodates inertial delay powertrain dynamics. Directed graphs are adopted to describe different types allowable interconnecting vehicles, including...

Cooperation of connected vehicles is a promising approach for autonomous intersection control. This article presents systematic to the cooperation at unsignalized intersections without global coordination. A task-area partition framework proposed decompose mission cooperative passing into three main tasks, i.e., vehicle state observation, arriving time optimization, and trajectory tracking To accomplish these distributed observation algorithm introduced achieve fixed-time other vehicles'...

To address the problem caused by a conventional adaptive cruise control (ACC) system, which hinders drivers from changing lanes, in this study we propose novel coordinated ACC system with lane-change assistance function, enables dual-target tracking, safe lane change, and longitudinal ride comfort. We first analyze risk calculating minimum safety spacing between host vehicle surrounding vehicles then develop algorithm using model predictive theory. Tracking performance is designed on basis...

Extensive research interest has been focused on protecting vulnerable road users in recent years, particularly pedestrians and cyclists, due to their attributes of vulnerability. However, comparatively little effort spent detecting pedestrian cyclist together, when it concerns quantitative performance analysis large datasets. In this paper, we present a unified framework for concurrent detection, which includes novel detection proposal method (termed UB-MPR) output set object candidates,...