Stop-and-go traffic poses significant challenges to the efficiency and safety of operations. In this study, a cooperative longitudinal control based on Soft Actor Critic (SAC) Reinforcement Learning (RL) is proposed address issue. The reward function carefully designed consider vehicle cooperation achieve three main objectives: safety, efficiency, oscillation dampening. A global performance met...

The long-term objective of this project is to derive systems that would allow the safe and efficient coordination of collaborating vehicles in highdensity highway traffic in order to alleviate traffic congestion and reduce driving stress. The objective of the research is to assure a safe movement of each vehicle, inside the collaborative driving system. An architecture for the control and colla...

A mixed traffic flow feature is presented on urban arterials in China due to a large amount of buses. Based on field data, a macroscopic mixed platoon flow dispersion model (MPFDM) was proposed to simulate the platoon dispersion process along the road section between two adjacent intersections from the flow view. More close to field observation, truncated Gaussian mixture distribution was adopt...

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair...

The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control algorithm with a wave-absorbing controller implemented on the leader, and/or on the rear-end vehicle. The wave-absorbing controller actively absorbs an incoming wave...

Intelligent vehicle platoon driving is a process of the flexible formation based on the coordination between vehicle and highway in the intelligent vehicle-highway system, which can increase the controllability of traffic, simplify the complexity of traffic control, and ease the traffic pressure. It has been constructed that the intelligent vehicle platoon driving simulation experiment system u...

Analysis of distributed systems with message passing and dynamic process creation is challenging because of the unboundedness of the emerging communication topologies and hence the infinite state space. We model such systems as graph transformation systems and use abstract interpretation to compute a finite overapproximation of the set of reachable graphs. To this end, we propose cluster abstra...

Previous studies have shown the ability of vehicle platooning to improve highway safety and throughput. With Vehicular Ad-hoc Network (VANET) and Cooperative Adaptive Cruise Control (CACC) system, vehicle platooning with small headway becomes feasible. In this paper, we developed a platoon management protocol for CACC vehicles based on wireless communication through VANET. This protocol include...

Résumé. This paper presents a methodology for the verification of reactive multi-agent systems (RMAS). High level of confidence about a safety execution is a must in such systems. For this reason, model-checking appear as an adequate tool to the verification of such models. However, model-checking can be confronted with the problem of huge state space exploration. To avoid this kind of inconven...

In longitudinal platooning‘, disturbance decoupling’ refers to the problem of making inter-vehicle spacing independent input from preceding vehicle, while ‘adaptive’ handling vehicle parametric uncertainty such as engine time constant. This work constructs a platooning architecture achieve decoupling and adaptive goals without absolute position relative velocity feed...