Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario

Stability Analysis of a Longitudinal Control Law for Autonomous Vehicles

We focus in this article on the analysis of an acceleration law for a following autonomous vehicle with constant time headway goal. We rst deene a function that measures the positioning of the following vehicle compared to the leading vehicle, w.r.t. the desired time headway. We study the convergence and limit of this positioning function, and prove the asymptotic stability of our acceleration ...

Modeling and Intelligent Control System Design for Overtaking Maneuver in Autonomous Vehicles

The purpose of this study is to design an intelligent control system to guide the overtaking maneuver with a higher performance than the existing systems. Unlike the existing models which consider constant values for some of the effective variables of this behavior, in this paper, a neural network model is designed based on the real overtaking data using instantaneous values for variables. A fu...

Discrete Geometric Motion Control of Autonomous Vehicles

The goal of this work is to develop methods to optimally control autonomous robotic vehicles in natural environments. The main contribution is the derivation of state-space structure respecting integration and optimization schemes for mechanical systems with symmetries, controllable shape dynamics, and nonholonomic constraints based on the theory of discrete mechanics. At the core of this appro...

Motion coordination and control in systems of nonholonomic autonomous vehicles

Adaptive Cruise Control with Safety Guarantees for Autonomous Vehicles

This paper addresses the problem of following a vehicle with varying acceleration in a comfortable and safe manner. Our architecture consists of a nominal controller (here: model predictive control) and a safety controller. Although model predictive control attempts to keep a safe distance, it cannot formally guarantee it, due to the assumptions on the behavior of the leading vehicle. We addres...