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The platooning of automated vehicles can significantly benefit road transportation in terms of traffic capacity, fuel efficiency, etc. This paper presents a robust distributed control method for vehicular platoons with bounded parameter uncertainty and a broad spectrum of interaction topologies. The nonlinear node dynamics are reduced to an uncertain linear model by using inverse model compensation...
Modelling and analysing drivers' behaviour are the foundation to develop advanced driver assistance systems (ADAS). However, no matter what kind of model structure and expression form are applied, the current method of driver characteristics analysis only considers the driving state of preceding vehicle in the host lane, neglecting the driving state of vehicles in the adjacent lane. Based on experimental...
This paper proposes a control strategy for multiple-vehicle longitudinal collision avoidance or impact minimization if it is unavoidable. The system is defined as a coupled group of vehicles with vehicle-to-vehicle communication (V2V) in short enough distance following. The relationships with the further front and/or rear vehicle without V2V has been taken into account, which are modeled as lower...
To comprehensively deal with tracking capability and fuel economy issue of ACC-activated vehicle, this paper presents a MPC based vehicular following control algorithm. After compensating the nonlinearity of vehicle longitudinal dynamics by inverse model, the car-following system is built as 3-state space linear model. On its basis, a standard MPC optimization cost is constructed mainly considering...
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