One of the most important issues in longitudinal control of vehicles in automated highway systems (AHS) is string stability, that is, the attenuation of spacing errors as they propagate upstream the platoon. In this paper we use a mass-spring-damper system as a simpliied framework for string stability analysis and study the properties of several longitudinal control schemes which have been prop...

In this paper a novel methodology is proposed for longitudinal control design of platoons of automotive vehicles within intelligent vehicle/highway systems (IVHSs). The proposed decentralized overlapping control law is obtained by using the inclusion principle, i.e., by decomposing the original system model by an appropriate input/state expansion, and by applying the linear quadratic (LQ) optim...

During manual driving, most human drivers often use information about the speed and position of the preceding and following vehicles in order to adjust the position and speed of their vehicles. The purpose of this paper is to design an autonomous intelligent cruise control (AICC) which mimics this human driving behavior. The proposed AICC law uses relative speed and spacing information from the...

Connected automated vehicles (CAVs) have the potential to significantly benefit the road transportation. This paper presents a distributed control algorithm for a platoon of CAVs with discontinuous gear transmissions using the receding horizon optimization. A directed graph is used to describe the underlying communication topology among vehicles. Each vehicle is modeled as a third-order nonline...

This article presents a local control approach to linear platoons, systems of vehicles that displace together adopting a train configuration without any material coupling. Linear platoon technology is considered as a potential base for the definition of new urban transportation services. The main problems related to platoon systems is the geometry control: control of inter-vehicle distance and ...

We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local information from itself and its two nearest neighbors. Each vehicle is modeled as a double integrator. To aid the analysis, we use continuous approximation t...

This paper deals with platooning navigation in the context of innovative solutions for urban transportation systems. More precisely, a sustainable approach centered on automated electric vehicles in free-access is considered. To tackle the major problem of congestions in dense areas, cooperative navigation according to a platoon formation is investigated. With the aim to ensure the formation st...

The current lane change maneuver for vehicles in a platoon under the California PATH automated highway system (AHS) architecture is inefficient, because the follower has to split from the rest of the platoon before making a lane change. In this paper, we propose to add a lane change within platoons maneuver that allows a follower to change lanes and be inserted into another platoon directly wit...

This article presents a local control approach to linear vehicle platooning. Linear platoon systems are sets of vehicles that use local or global perception capabilities to form a train configuration, without any hard grip element. Public transportation is beginning to interest in platoon systems as a technological base to conceive new services. The main problem related to platoon system’s cont...

In AHS(Automated Highway Systems) project which is one of the ITS (Intelligent Highway Systems), the platoon control is developed. In this paper, a platoon control law based on Adaptive Neural Network (ANN) to lower level and Semi-Autonomous Adaptive Cruise Control (SAACC) to upper level is proposed. Moreover, there is ”Delay” with the communication and the sensor. We design their compensators,...