This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology constant time headway policy. assume that each agent the platoon sends its current position immediate follower through lossy channel modeled as Bernoulli process. To reduce negative effects of loss over string stability...

The AHS architecture of the California PATH program organizes traffic into platoons of closely spaced vehicles. A large relative motion between platoons can increase the risk of high relative velocity collisions. This is particularly true whenever platoons are formed or broken up by the join and split control maneuvers and by the decelerate to change lane control maneuver, which allows a platoo...

This article exploits macroscopic information for the control of autonomous vehicles in platoon formation case external disturbances. The use such leads to smoother platooning. A mesoscopic controller is proposed, and disturbance string stability proven through input-to-state concepts. Simulations prove efficacy proposed approach by showing its robustness with respect presence perturbations act...

This paper discusses cooperation applied to a platoon of electric vehicles using an Eco-Driving Optimal Controller (EDOC). The proposed algorithm is evaluated in terms energy efficiency and string compactness comparison with the non-cooperative EDOC standard adaptive cruise control drive cycle based scenario. A theoretical analysis stability without presented. simulation results show that coope...

Autonomous driving of multi-lane vehicle platoons have attracted significant attention in recent years due to their potential enhance the traffic-carrying capacity roads and produce better safety for drivers passengers. This paper proposes a distributed motion planning algorithm ensure safe overtaking autonomous vehicles dynamic environment using Artificial Potential Field method. Unlike conven...

In this paper, we propose a trust-based vehicular platoon crowdsensing scheme, named TripSense, in VANET. The proposed TripSense scheme introduces a trust-based system to evaluate vehicles' sensing abilities and then selects the more capable vehicles in order to improve sensing results accuracy. In addition, the sensing tasks are accomplished by platoon member vehicles and preprocessed by plato...

Vehicle platooning has in recent years become an important research field for the vehicle industry. By establishing a platoon of heavy duty vehicles, the fuel consumption can be reduced for the follower vehicles due to the slipstream effect. However, as vehicles are scattered on the road driving by themselves, coordination amongst the vehicles is required. In this paper we study the problem of ...

Research on developing mathematical and simulative models to evaluate performance of signalized arterials is still ongoing. In this paper, an integrated model (IM) based on Rakha vehicle dynamics and LWR model is proposed. The IM which imitates actuated performance measurement in signalized arterials is described using continuous timed Petri net with variable speeds (VCPN). This enables systema...

Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with guidance autonomous technology, human-leading are more versatile handle uncertain traffic conditions than fully automated systems. This paper presents a novel distributed stochastic model predictive control (DSMPC) design for heavy-duty platoon. The DS...

We consider the stability margin of a vehicular formation with distributed control, in which the control at each vehicle only depends on the information from its neighbors in an information graph. The stability margin is measured by the real part of the least stable eigenvalue of the closed-loop state matrix, it quantifies the system’s convergence rate due to initial errors. In [1], [2], it was...