Collaborative driving is an important sub-component of Intelligent Transportation Systems ITS and it strives to create vehicles that are able to cooperate in order to navigate through urban traffic by using communications. In this paper, we address this issue by putting emphasis on the simulation of a platoon of cars considered as more or less autonomous software agents. To do that, we propose ...

Recent advances in cooperative driving hold the potential to significantly improve safety, comfort and efficiency on our roads. An application of particular interest is platooning of vehicles, where reduced inter-vehicle gaps lead to considerable reductions in fuel consumption. This, however, puts high requirements on timeliness and reliability of the underlying exchange of control data. Consid...

Platooning vehicles are beneficial in comfortable driving, safety, and enhanced transportation efficiency. with cooperative adaptive cruise control (CACC) mode can potentially result a small distance between assured string stability. This CACC-based platoon be realized by vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X) communication vehicles. In this regard, the distributed framework is...

Recent advances in vehicle connectivity have allowed formation of autonomous platoons for improved mobility and traffic throughput. In order to avoid a pile-up such platoons, it is important ensure platoon (string) stability, which the focus this work. As per conventional definition string power (2-norm) spacing error signals should not amplify downstream platoon. But practice, infinity-norm si...

Vehicle platooning is a nascent fuel-saving technology. In a platoon, vehicles travel one after another with small intervehicle distances; trailing vehicles in a platoon save fuel because they experience less aerodynamic drag. This work presents a coordinated platooning model with multiple speed options that integrates scheduling, routing, speed selection, and platoon formation/dissolution in a...

Intelligent vehicle platoon driving is a process of flexible control based on the coordination between vehicle and highway in intelligent vehicle-highway system. It can improve the velocities and reduce the spacing between vehicles in the platoon, thus, to improve road capacity and road safety. It is the most important for developing intelligent vehicle-highway system to construct intelligent v...

This paper is devoted to robust stable control for a platoon system with mismatched parametric uncertainty. A stable sufficient condition of the platoon of vehicles is given in terms of linear matrix inequalities (LMI), based on which the corresponding controller is also developed. The results are illustrated by an example. Copyright © 2005 IFAC

Many distributed controllers for vehicle platoon are designed based on homogeneous assumption and full state information. In reality, may consist of heterogeneous vehicles have limited information due to sensor constraints. Therefore, this paper proposes a model reference adaptive control cooperative observer with output subjected uncertain dynamics. Cooperative provides estimation the system. ...

CAV platooning technology has received considerable attention, driven by the next generation smart transportation systems. This paper considers nonlinear vehicle dynamics and develops fully distributed optimization based control schemes via platoon centered MPC approach for a possibly heterogeneous platoon. The leads to major difficulties in algorithm development analysis. Specifically, underly...

Platoon-based vehicular cyber-physical systems (VCPSs) have attracted much attention due to their potential improve road capacity and energy efficiency. However, the comprehensive effect of mismatched modeling dynamics unknown disturbances can impose a great challenge on convergence stability vehicle platooning. In this paper, we propose novel decentralized robust control approach address exter...