- Advanced Vehicle Control and Safety Systems: Modeling, Control, and Diagnostics of Vehicular Subsystems
- Connected, Autonomous and Semi-Autonomous Ground Vehicles: Automatic Vehicle and Lane Following Systems – String Stability and Information Flow, Effect on Traffic Flow Dynamics and Safety
- Transportation Systems – Modeling, Effects of Information Infusion at different levels of Safety and Resilience
- Control System Theory relevant to Transportation Systems – Decentralized and Fixed-Structure Control for Large Scale Systems
- Unmanned Vehicles – Routing and Autonomy enabling Decision-making under Uncertainty, Human-in-the-Loop Systems.
Advanced Vehicle Control and Safety Systems
Connected, Autonomous and Semi-Autonomous Ground Vehicles
This research area deals with the simulation of a combined lateral and longitudinal control for Emergency Lane Change (ELC) maneuvers for a convoy of Autonomous and Connected Vehicles (ACVs).
The concept of a platoon is to have a coordinated movement of a group of vehicles, with a lead vehicle, which can be autonomous or human-controller, and the rest is automated follower vehicles. Designing a decentralized robust controller for the vehicles is crucial in realizing this, as it plays a direct role in ensuring the safety of the platoon.
A simulation of this is created using TORCS (Figure 2), an open-source simulator, to prove the stability of the controller by showing the prevention of amplification of the cross-track errors as one traverses down the string.