Wireless vehicle to vehicle communication in a vehicle platoon is proposed in intelligent transportation systems to increase safety of the transportation system and assist drivers for improved decision making. However, similar to any networked system, cooperative connected vehicles in a platoon are vulnerable to malfunction due to failures in network communication. In addition to the possible d...

This article introduces the entity-life modeling (ELM) design approach for multithread software. The article focuses on problems that can be described by state machines with associated activities. We compare ELM with a traditional design approach based on a dataflow model. Using a cruise controller for a car as an example, we show that entity-life modeling is a more direct and less ceremonious ...

Abstract Adaptive cruise control (ACC), which is an extension of conventional control, has been applied in many commercial vehicles. Traditional ACC controlled by proportional-integral-derivative or linear quadratic regulation (LQR), can provide sufficient performance to follow a preceding vehicle. However, they also cause excessive acceleration and jerk. To avoid these behaviors, we propose re...

This paper discusses the Adaptive Cruise Control (ACC) system, which is a solution that allows drivers to minimize amount of time spent driving. It supports four different driving modes and regulates acceleration deceleration car in order maintain fixed speed or avoid collision with another vehicle. Real-Time Publish-Subscribe (RTPS) middleware has emerged as one most efficient practical option...

This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...

This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

Over the last decade, there has been rising interest in automated driving systems and adaptive cruise control (ACC). Controllers based on reinforcement learning (RL) are particularly promising for autonomous driving, being able to optimize a combination of criteria such as efficiency, stability, comfort. However, RL-based controllers typically offer no safety guarantees. In this paper, we propo...