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Model Checking Longitudinal Control in Vehicle Platoon Systems

Cong Peng, Marcello M. Bonsangue, Zhongwei Xu
2019 IEEE Access  
INDEX TERMS Model checking, vehicle safety, modeling of platoon systems, formal verification.  ...  Instead of such global perspective we rather take a local point of view: each vehicle relies on its own sensors to dynamically calculate and maintain a safe distance with the preceding member of the platoon  ...  VEHICLE MODEL VERIFICATION OF PLATOON SYSTEM USING UPPAAL As we have timed automata for modelling the control system and the sensor of a vehicle inside a platoon, we can carry out verification of specific  ... 
doi:10.1109/access.2019.2935423 fatcat:fdk526ymijhlhohqngynm2ovqe

Virtual intelligent vehicle urban simulator: Application to vehicle platoon evaluation

Franck Gechter, Jean-Michel Contet, Stéphane Galland, Olivier Lamotte, Abderafiâa Koukam
2012 Simulation modelling practice and theory  
The goal of vivus is thus to overcome the general drawbacks of classical solutions by providing the possibility of designing a vehicle virtual prototype with well simulated embedded sensors and physical  ...  Part experiments made on linear platoon algorithms are exposed in this paper in order to illustrate the similarity between simulated results and those obtained in reality.  ...  This verification is performed using a compositional verification method [8] dedicated to this application. This verification exhibits the validity of safety properties during platoon evolution.  ... 
doi:10.1016/j.simpat.2012.02.001 fatcat:zjdjuueoxfcqrorcids3ccd7l4

Formal verification of autonomous vehicle platooning

Maryam Kamali, Louise A. Dennis, Owen McAree, Michael Fisher, Sandor M. Veres
2017 Science of Computer Programming  
In this paper, we show how formal verification can contribute to the analysis of these new, and increasingly autonomous, systems.  ...  This style of architecture improves the system design from an engineering perspective and also facilitates system analysis and verification [9] .  ...  Further details of the project are available at http :/ /wordpress .csc .uk /va. We would like to kindly thank the reviewers for their detailed and valuable comments on our manuscript.  ... 
doi:10.1016/j.scico.2017.05.006 fatcat:wlovngg35fg75i67f6ga4jsgza

Formal Verification of Autonomous Vehicle Platooning [article]

Maryam Kamali and Louise A. Dennis and Owen McAree and Michael Fisher and Sandor M. Veres
2016 arXiv   pre-print
However, as the formal verification technique used to verify the agent code does not scale to the full system and as the global verification technique does not capture the essential verification of autonomous  ...  However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be certified.  ...  These vehicles, equipped with low-level longitudinal (controlling speed) and lateral (controlling steering) control systems, travel in a platoon with pre-defined gaps between them.  ... 
arXiv:1602.01718v1 fatcat:6ou3ed3mdbflbmveam4p5ra6cq

A Hybrid Vehicle Platoon for Connected and Automated Vehicles: Formulation, Stability Analysis, and Applications [article]

Yuan Zheng, Min Xu, Shining Wu, Shuaian Wang
2021 arXiv   pre-print
In this study, we propose a hybrid vehicle platoon system for the connected and automated vehicles (CAVs).  ...  Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently.  ...  The norm of the right-hand term on the Eq. (B3) is always larger than or equal to 1 for any controller parameters and index n through numerical calculations.  ... 
arXiv:2107.11030v2 fatcat:4ylibl7v3ngg3o2oyv2gaiy4wa

Vehicle Platooning Systems: Review, Classification and Validation Strategies

Faten Fakhfakh, Mohamed Tounsi, Mohamed Mosbah
2020 International Journal of Networked and Distributed Computing (IJNDC)  
Besides, they focus only on the safety property of the longitudinal control problem in a platoon system.  ...  [36] aims to control the behaviour of vehicles while considering creating and splitting a platoon.  ... 
doi:10.2991/ijndc.k.200829.001 fatcat:6lics7kj4fb7jofmkssqf3gpgm

Infrastructure assisted adaptive driving to stabilise heterogeneous vehicle strings

Meng Wang
2018 Transportation Research Part C: Emerging Technologies  
Results show that even the estimation of control parameters of non-connected automated vehicles are imperfect and there is mismatch between the model used in analytical derivation and that in simulation  ...  Assumed is a roadside system with V2I communications, which receives control parameters of the CAV in the string and estimates parameters imperfectly of non-connected automated vehicles.  ...  on behaviours of non-connected vehicles in the platoon.  ... 
doi:10.1016/j.trc.2018.04.010 fatcat:epvn4j3lwfcjzgddw5n45i6gfq

Effects of connected and autonomous vehicle merging behavior on mainline human-driven vehicle

Lishengsa Yue, Mohamed Abdel-Aty, Zijin Wang
2021 Journal of Intelligent and Connected Vehicles  
Purpose This study aims to evaluate the influence of connected and autonomous vehicle (CAV) merging algorithms on the driver behavior of human-driven vehicles on the mainline.  ...  Findings Four types of CAV merging algorithms were evaluated regarding their influences on driving safety and driving comfort of the mainline vehicle platoon.  ...  (both on mainline and ramp) entering the control area; the vehicles in the control area will be manipulated so that the speed and headway distance of each single vehicle in the virtual platoon can be  ... 
doi:10.1108/jicv-08-2021-0013 fatcat:i7wifgfcyfdrxl2mgtzjzylbp4

Automated vehicle control developments in the PATH program

S.E. Shladover, C.A. Desoer, J.K. Hedrick, M. Tomizuka, J. Walrand, W.-B. Zhang, D.H. McMahon, H. Peng, S. Sheikholeslam, N. McKeown
1991 IEEE Transactions on Vehicular Technology  
The basic prqfiiples and assumptions underlying the PATH work are identified, 'followed by explanations of the work on automating vehicle lateral (steering) and longitudinal (spacing and speed) control  ...  For both lateral and longitudinal control, the modeling of plant dynamics is described first, followed by development of the additional subsystems needed (communications, reference/sensor systems) and  ...  Longitudinal Control of a Platoon of Vehicles The subject of design and analysis of vehicle longitudinal control laws was studied extensively from the late 1960's until the mid-1970's.  ... 
doi:10.1109/25.69979 fatcat:lvcy3wcn6bf35jj7ejo2p2vv6a

Optimal merging from an on-ramp into a high-speed lane dedicated to connected autonomous vehicles [article]

L. C. Davis
2018 arXiv   pre-print
In the future, High Occupancy Vehicle (HOV) lanes or other dedicated lanes might be restricted to autonomous vehicles, e.g. wirelessly connected vehicles with longitudinal motion control.  ...  These vehicles would likely travel at high speeds in platoons. New criteria for the merging of a vehicle from an on-ramp are proposed.  ...  This paper addresses merging of vehicles that are equipped with vehicle-to-vehicle communication and a longitudinal control system (adaptive cruise control or a more elaborate connected system), known  ... 
arXiv:1809.01226v1 fatcat:zboyq5k6ibfzlgyvpkqr4vw7du

Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

Sebti Mouelhi, Daniela Cancila, Amar Ramdane-Cherif
2017 2017 22nd International Conference on Engineering of Complex Computer Systems (ICECCS)  
The contribution of this paper is articulated around a new software design approach of autonomous control systems for connected vehicle platoons.  ...  We illustrate our design by relevant case studies of the longitudinal speed control widely studied in industrial and academic research around automotive platooning.  ...  Platooning control functions The main functions to control the behavior of vehicles in a platoon are mostly: longitudinal and lateral control, string stability, lane tracking and changing, maneuver coordination  ... 
doi:10.1109/iceccs.2017.32 dblp:conf/iceccs/MouelhiCR17 fatcat:3bizol5cnvcfnmrzwfxkj4mauy

ELM-Based Non-Singular Fast Terminal Sliding Mode Control Strategy for Vehicle Platoon

Chengmei Wang, Yuchuan Du
2022 Sustainability  
Firstly, the vehicle longitudinal dynamics are derived from the analysis of the forces acting on the vehicle in the longitudinal direction.  ...  Vehicle platoon is one of the innovations in the automated highway systems, which has the potential to reduce fuel consumption, alleviate traffic congestion and lighten the driver's burden.  ...  Section 5 contains the analysis of the performances of the verification experiments and the effectiveness of the control method. Section 6 presents a brief conclusion.  ... 
doi:10.3390/su14074020 fatcat:c7oz237aeva2baery5qwetlcsi

String stability of heterogeneous platoons with non-connected automated vehicles

Meng Wang, Honghai Li, Jian Gao, Zichao Huang, Bin Li, Bart van Arem
2017 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)  
This work propose an analytical approach to determine string stability conditions for non-connected vehicle platoons with heterogeneous parameters.  ...  Previous reports on string stability analysis focussed on homogeneous vehicle strings and simplify the time delays in vehicle systems.  ...  Much work on control design and stability analysis of vehicle platoons does not explicitly address both time delays [13] .  ... 
doi:10.1109/itsc.2017.8317792 dblp:conf/itsc/WangLGHLA17 fatcat:yijx6w6ufrhb3omae62pl5lfei

Intrusion Detection System for Platooning Connected Autonomous Vehicles

Dimitrios Kosmanos, Apostolos Pappas, Francisco J. Aparicio-Navarro, Leandros Maglaras, Helge Janicke, Eerke Boiten, Antonios Argyriou
2019 2019 4th South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference (SEEDA-CECNSM)  
The deployment of Connected Autonomous Vehicles (CAVs) in Vehicular Ad Hoc Networks (VANETs) requires secure wireless communication in order to ensure reliable connectivity and safety.  ...  To the best of the authors' knowledge, the proposed IDS is the first in literature that uses a cross-layer approach to detect both spoofing and jamming attacks against the communication of connected vehicles  ...  Vehicle platooning is achieved by the exchange, in realtime, of information about the longitudinal (e.g. acceleration and braking) and lateral (e.g. steering) control system of the vehicles, as well as  ... 
doi:10.1109/seeda-cecnsm.2019.8908528 dblp:conf/seeda/KosmanosPAMJBA19 fatcat:pme3pw2i6jc7fbhsdxjjl7alb4

Longitudinal Control for Connected and Automated Vehicles in Contested Environments

Shirin Noei, Mohammadreza Parvizimosaed, Mohammadreza Noei
2021 Electronics  
Proposed vehicle-following model and longitudinal control functions are verified for fourteen vehicle models, operating in manual, automated, and cooperative automated modes over two driving schedules  ...  estimate longitudinal control variables with reasonable accuracy at each simulation time step for many conventional vehicles, vehicles dedicated to automated driving systems, and vehicles equipped with  ...  Vehicle Dynamics Conventional longitudinal control functions control accelerations and decelerations using throttle and brake inputs to maintain a constant distance gap in a platoon (e.g., truck platooning  ... 
doi:10.3390/electronics10161994 fatcat:zfkhbeivgvec7g5ali4gt7vczy
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