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Falcone, Paolo

University of Modena and Reggio Emilia

in Cooperation with on an Cooperation-Score of 37%

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Graph Shared Publication
Rosolia, Ugo - 1 publications, 1 shared
Batkovic, Ivo - 1 publications, 1 shared
Zanon, Mario - 10 publications, 3 shared
Ali, M. M. - 7 publications, 4 shared
Batkovic, I. - 1 publications, 1 shared
Salvi, Alessandro - 6 publications, 2 shared
Petrillo, A. - 5 publications, 1 shared
Hult, R. - 5 publications, 5 shared
Vaio, M. D. - 1 publications, 1 shared
Santini, Stefania - 16 publications, 2 shared
Koroglu, H. - 1 publications, 1 shared
Gupta, Abhineet - 24 publications, 1 shared
Gros, Sebastien - 13 publications, 1 shared
De Campos, G. R. - 2 publications, 2 shared
Sjoberg, J. - 7 publications, 5 shared
Wymeersch, Henk - 11 publications, 4 shared
Fidan, B. - 3 publications, 2 shared
Jalalmaab, M. - 2 publications, 2 shared
Jeon, S. - 2 publications, 2 shared
Steinmetz, Erik - 3 publications, 1 shared
Hammarstrand, L. - 1 publications, 1 shared
Campos, G. R. - 2 publications, 2 shared
Sinigaglia, A. - 1 publications, 1 shared
Jacobson, B. - 2 publications, 1 shared
Tagesson, K. - 1 publications, 1 shared
Di Bernardo, Mario - 1 publications, 1 shared
Nilsson, J. - 3 publications, 2 shared
Svensson, L. - 5 publications, 1 shared
Strom, E. G. - 4 publications, 1 shared
Fredriksson, J. - 4 publications, 1 shared
Kianfar, R. - 1 publications, 1 shared
Sundbom, M. - 1 publications, 1 shared
Ólafsdóttir, J. M. - 1 publications, 1 shared
Iersel, S. Van - 2 publications, 1 shared
Jansen, Sven T. H. - 10 publications, 1 shared
Lidberg, Mathias R. - 12 publications, 2 shared
Coelingh, E. - 1 publications, 1 shared
Brännström, M. - 1 publications, 1 shared
Keshavarz Bahaghighat, M. - 1 publications, 1 shared
Kharrazi, S. - 3 publications, 1 shared
Schofield, B. - 1 publications, 1 shared
Hrovat, D. - 8 publications, 6 shared
Tseng, E. H. - 1 publications, 1 shared
Borrelli, F. - 7 publications, 7 shared
Solyom, S. - 1 publications, 1 shared
Pakazad, S. K. - 1 publications, 1 shared
Tseng, H. E. - 3 publications, 3 shared
Asgari, J. - 4 publications, 4 shared
Tufo, M. - 2 publications, 1 shared
Asgarit, J. - 1 publications, 1 shared
Asgariy, J. - 1 publications, 1 shared
Tsengy, H. E. - 1 publications, 1 shared
Keviczky, T. - 4 publications, 2 shared
Period of publication
2021
2019
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2005

article

Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection

  • Falcone, Paolo
  • Salvi, Alessandro
  • Petrillo, A.
  • Hult, R.
  • Vaio, M. D.
  • Santini, Stefania
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.

Topics
  • autonomous vehicle
  • beltway
  • driving
  • autonomous driving
  • 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