A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

This work presents a coalitional model predictive controller for collaborative vehicle platoons. The overall system is modeled as a string of locally controlled vehicles that can share data through a wireless communication network. The vehicles can dynamically form disjoint groups that coordinate their actions, i.e., the so-called coalitions....

A General Hierarchical Control System to Model ACC Systems: An Empirical Study

Urged by a close future perspective of a traffic flow made of a mix of human-driven vehicles and automated vehicles (AVs), research has recently focused on studying the traffic flow characteristics of Adaptive Cruise Controls (ACCs), the most typical AV. However, in most works, the ACC system is studied under a simplifying and unrealistic...

Proposed Empirical Approach to Measuring Traffic String Stability

This study originated with the intent of qualifying traffic string stability from empirical observations. A new responsiveness angle measure was developed to assess driver instincts under vehicle-following conditions. In this measure, the degree of the follower vehicle's attention towards its leader vehicle's actions is quantified. In...

Stability Analysis of Mixed Traffic Flow using Car-Following Models on Trajectory Data

There is an increase in the need to understand traffic flow behavior through multiple fronts, especially in developing countries like India, where a high degree of heterogeneity, non-lane-discipline, and non-compliance to traffic rules prevail in the road sections. As a result, it can impact the stability of the traffic stream. Four car...

Traffic Flow on a Ring with a Single Autonomous Vehicle: An Interconnected Stability Perspective

In recent years, field experiments have been performed on ring roadways with human-driven vehicles or with a mix of human-driven and autonomous vehicles. While these experiments demonstrate the potential for controlling traffic flows by a small number of autonomous vehicles, the theoretical framework about such a possibility is to a large...

Semi-constant Spacing Policy for Leader-Predecessor-Follower Platoon Control via Delayed Measurements Synchronization

Constant spacing-based platooning systems cannot guarantee string stability if platoon members only use the preceding vehicle's information. To meet string stability specification, leader-predecessor-follower (LPF) platooning systems are proposed to incorporate the information of both the preceding vehicle and the platoon leader into the...

Infrastructure assisted adaptive driving to stabilise heterogeneous vehicle strings

Literature has shown potentials of Connected/Cooperative Automated Vehicles (CAVs) in improving highway operations, especially on roadway capacity and flow stability. However, benefits were also shown to be negligible at low market penetration rates. This work develops a novel adaptive driving strategy for CAVs to stabilise heterogeneous...

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy...