The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring road. constructed feedback are functions distance between successive vehicles and their speeds. It is shown that proposed novel guarantee safety (collision avoidance), speed positivity, bounded acceleration, limits by explicitly characterising set allowable inputs ...

This paper presents a control design with integral action for vehicle platoons disturbances that ensures string stability of the closed-loop system and disturbance rejection. The addition coordinate change allows development sufficient smoothness conditions on to ensure using proposed controller is stable when subject time-varying disturbances, while rejecting constant disturbances. In addition...

The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle’s powertrain. Effects of acceleration-feedback control that were not previously studied are found. For small acceleration-feedback gain, which produces marginally string-stable behavior, the reduction of a disturbance (with increasing car number ) is found to be faster than...

The interaction between automated and human-driven vehicles in mixed (human/automated) platoons is far from understood. To study this interaction, the notion of head-to-tail string stability was proposed literature. Head-to-tail an extension standard concept where, instead asking every vehicle to achieve stability, a lack allowed due human drivers, provided it can be suitably compensated by spa...

Autonomous vehicles in a platoon determine the control inputs based on system state information collected and shared by Internet of Things (IoT) devices. Deep reinforcement learning (DRL) is regarded as potential method for car-following has been mostly studied to support single following vehicle. However, it more challenging learn an efficient policy with convergence stability when there are m...

Collaborative driving is a growing domain of intelligent transportation systems (ITS) that makes use of communications to autonomously guide cooperative vehicles on an automated highway system (AHS). In this paper, we address this issue by using a platoon of cars considered as more or less autonomous software agents. To achieve this, we propose a hierarchical driving agent architecture based on...

1 Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks 2 to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create signifi3 cant opportunities for energy savings due to reduced aerodynamic drag, as well as increased road 4 capacity and congestion reduction resulting from shorter vehicle headways. However, these po...

We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. We restrict ourselves to intervehicular coupling realized with dynamic arbitrary-order onboard controllers such that the coupling to the immediately preceding vehicle is proportional to the coupling to the immediately following vehicle. Each vehicle is modeled using a transfer function and we im...

A unified platoon-based mathematical formulation called PAMSCOD is presented to perform arterial (network) traffic signal control while considering multiple travel modes in a vehicle-to-infrastructure communications environment. First, a headway-based platoon recognition algorithm is developed to identify pseudo-platoons given probe vehicles’ online information. It is assumed that passenger veh...

Metaverse allows the physical reality to tightly integrate with digital universe. As one typical metaverse application, platooning control of vehicular cyber–physical systems has attracted extensive attention as it is beneficial improve traffic efficiency, driving safety, and emission reduction. However, due open nature wireless communication networks, transmitted vehicle-to-vehicle (V2V) data ...