Proceedings ArticleDOI
Experimental evaluation of cooperative adaptive cruise control with autonomous mobile robots
Yuan Lin,Azim Eskandarian +1 more
- pp 281-286
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TLDR
The robot platooning experiment results have demonstrated the advantages of CACC over ACC in maintaining a small inter-vehicle headway, and the step response for the transfer function of the CACC system equals a step input and thus demands zero rise time.Abstract:
Cooperative Adaptive Cruise Control (CACC) is made possible with connected vehicles to achieve tight vehicle following. Vehicle-to-vehicle wireless communication can provide information that is not present using available in-vehicle sensors and can aid the development of better control strategies for following. Current theoretical and experimental studies have shown that CACC systems reduce the inter-vehicle headway as compared to Adaptive Cruise Control (ACC) systems while guaranteeing string stability, i.e., gap-keeping error doesn't propagate throughout the platoon. This paper focuses on implementation of a CACC system on unmanned ground robots. The step response for the transfer function of the CACC system equals a step input and thus demands zero rise time. Our robot platooning experiment results have demonstrated the advantages of CACC over ACC in maintaining a small inter-vehicle headway.read more
Citations
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Journal ArticleDOI
Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Journal ArticleDOI
Cooperative Adaptive Cruise Control With Adaptive Kalman Filter Subject to Temporary Communication Loss
TL;DR: A control algorithm with an adaptive Kalman filter estimating the acceleration of a preceding vehicle is proposed, and the estimated acceleration is implemented as a feedforward signal in the ego-vehicle CACC controller in case of communication loss.
Journal ArticleDOI
State Estimation and Motion Prediction of Vehicles and Vulnerable Road Users for Cooperative Autonomous Driving: A Survey
TL;DR: A comprehensive survey of the literature on motion prediction and state estimation of vehicles and VRUs can be found in this article , where the authors discuss the significant progress that has been made in both categories, discusses the most promising results to date and outlines critical research challenges that need to be overcome to achieve full autonomy, from an ego vehicle's perspective in mixed traffic environments.
Journal ArticleDOI
State Estimation and Motion Prediction of Vehicles and Vulnerable Road Users for Cooperative Autonomous Driving: A Survey
TL;DR: A comprehensive survey of the literature on motion prediction and state estimation of vehicles and VRUs can be found in this paper , where the authors discuss the significant progress that has been made in both categories, discusses the most promising results to date and outlines critical research challenges that need to be overcome to achieve full autonomy, from an ego vehicle's perspective in mixed traffic environments.
Proceedings ArticleDOI
Integrating Odometry and Inter-vehicular Communication for Adaptive Cruise Control with Target Detection Loss
TL;DR: A new solution which integrates odometry and inter-vehicular communication to enable vehicle following for the period of target detection loss is proposed and the feasibility of the system design is validated through mobile robot experiments.
References
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Journal ArticleDOI
The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics
TL;DR: The authors study the impacts of CACC for a highway-merging scenario from four to three lanes and show an improvement of traffic-flow stability and a slight increase in Trafficflow efficiency compared with the merging scenario without equipped vehicles.
Journal ArticleDOI
On-road vehicle detection: a review
TL;DR: A review of recent vision-based on-road vehicle detection systems where the camera is mounted on the vehicle rather than being fixed such as in traffic/driveway monitoring systems is presented.
Journal ArticleDOI
String stability of interconnected systems
D. Swaroop,J.K. Hedrick +1 more
TL;DR: The authors derive sufficient ("weak coupling") conditions which guarantee the asymptotic string stability of a class of interconnected systems and ensure that the states of all the subsystems are all uniformly bounded when a gradient-based parameter adaptation law is used.
Journal ArticleDOI
Connected Vehicles: Solutions and Challenges
TL;DR: The challenges and potential challenges to provide vehicle-to-x connectivity are discussed and the state-of-the-art wireless solutions for vehicle-To-sensor, vehicle- to-vehicle, motorway infrastructure connectivities are reviewed.
Journal ArticleDOI
Cooperative Adaptive Cruise Control in Real Traffic Situations
Vicente Milanés,Steven E Shladover,John Spring,Christopher Nowakowski,Hiroshi Kawazoe,Masahide Nakamura +5 more
TL;DR: The design, development, implementation, and testing of a CACC system, which consists of two controllers, one to manage the approaching maneuver to the leading vehicle and the other to regulate car-following once the vehicle joins the platoon, is presented.