People
Falcone, Paolo
University of Modena and Reggio Emilia
in Cooperation with on an Cooperation-Score of 37%
Topics
- crash
- planning
- autonomous vehicle
- road
- behavior
- highway traffic
- highway transportation
- simulation
- traveler
- bottleneck
- constraint
- highway traffic control
- prevention
- uncertainty
- tube
- mobile robot
- vehicle
- driving
- autonomous driving
- trajectory
- beltway
- infrastructure
- intelligent transportation system
- distributed control
- feedback control
- validation
- traffic
- intersection
- vehicle to vehicle communication
- transport hub
- autonomous automobil
- coordination
- nonlinear system
- rear end crash
- multi-agent system
- vehicle dynamic
- invariant
- decision making
- heavy vehicle
- actuator
- actuating system
- engineering
- intelligent vehicle
- topology
- profit
- stringer
- consensus
- traffic platooning
- law
- communication system
- highway
- positioning
- position fixing
- highway safety
- safety
- driver
- driving behavior
- electric vehicle
- automobile
- modeling
- engine
- motor
- braking
- wheel
- power train
- blending
- vehicle safety
- pavement
- train consist
- chassis
- friction
- regenerative braking
- axle
- layout
- yaw
- mechatronics
- driveability
- lateral control
- hybrid vehicle
- steering
- show 50 more
Publications
- 2021A Robust Scenario MPC Approach for Uncertain Multi-modal Obstaclescitations
- 2019Real-time constrained trajectory planning and vehicle control for proactive autonomous driving with road userscitations
- 2019Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersectioncitations
- 2018Restricted-complexity characterization of control-invariant domains with application to lateral vehicle dynamics controlcitations
- 2018Energy-Optimal Coordination of Autonomous Vehicles at Intersectionscitations
- 2017Traffic Coordination at Road Intersections: Autonomous Decision-Making Algorithms Using Model-Based Heuristicscitations
- 2017Guaranteeing persistent feasibility of model predictive motion planning for autonomous vehiclescitations
- 2016Coordination of Cooperative Autonomous Vehicles: Toward safer and more efficient road transportationcitations
- 2016Coordination of motion actuators in heavy vehicles using Model Predictive Control Allocationcitations
- 2016Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delayscitations
- 2015An approximate solution to the optimal coordination problem for autonomous vehicles at intersectionscitations
- 2015Receding horizon maneuver generation for automated highway drivingcitations
- 2015Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioningcitations
- 2015Model predictive path planning with time-varying safety constraints for highway autonomous drivingcitations
- 2013Safety verification of automated driving systemscitations
- 2013Predictive manoeuvre generation for automated drivingcitations
- 2013Online driver behavior classification using probabilistic ARX modelscitations
- 2012Energy recuperation in fully electric vehicles subject to stability and drivability requirements:
- 2010Driver models to increase the potential of automotive active safety functions
- 2010Predictive yaw and lateral control in long heavy vehicles combinationscitations
- 2010On low complexity predictive approaches to control of autonomous vehiclescitations
- 2009Predictive approaches to rear axle regenerative braking control in hybrid vehiclescitations
- 2007Predictive active steering control for autonomous vehicle systemscitations
- 2007Integrated braking and steering model predictive control approach in autonomous vehicles
- 2007A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systemscitations
- 2007A model predictive control approach for combined braking and steering in autonomous vehiclescitations
- 2006Predictive control approach to autonomous vehicle steering
- 2005MPC-based approach to active steering for autonomous vehicle systemscitations
Places of action
article
Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection
Abstract
This paper presents a fully distributed interaction protocol for connected self-driving cars negotiating the access a traffic junction. The vehicles coordination has been reformulated as an equivalent virtual platoon control problem. The desired vehicles spacing within the platoon is chosen so to avoid the side and rear-end collisions and is controlled by a cooperative non-linear control algorithm, based on potential functions. The asymptotic stability of the closed-loop system has been analytically proved by leveraging the LaSalle's Invariance Principle. The analysis of the convergence rate has resulted in an effective tuning tool ensuring that the desired formation is achieved before vehicles reach the intersection. Most notably, results from an in-vehicle experimental validation are presented. The experiments were carried out on three self-driving cars connected through a V2V communication infrastructure based on the IEEE 802.11p protocol. The experimental results confirm the theoretical analysis and reveal the effectiveness of the control approach for autonomously and safely negotiating a generic traffic junction.
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