arXiv subjects

Parthib Khound

Publications and source records attributed to Parthib Khound.

3 recordsLinked to original sources

arXiv2026

Situation-Aware Feedback-Predictive Control Framework for Lane-Less Dense Traffic

Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid control framework tailored for such environments, integrating a $360^\circ$ zone-based perception module with a dual-layer control strategy that combines classical feedback and predictive optimization. The longitudinal feedback controller computes reference speed based on braking distance and steering dynamics, while the lateral controller tracks a virtual optimal lane derived from the spatial distribution of neighboring vehicles. The predictive planner samples control inputs over a time horizon and selects the most feasible trajectory using a multi-term cost function. Simulation results across diverse one-way traffic scenarios demonstrate the framework's robustness, responsiveness, and suitability for chaotic, unstructured traffic.

eess.SY↗

arXiv2025

Noise-induced stop-and-go traffic dynamics: Modelling and control

Stop-and-go waves in traffic flow are captivating collective phenomena with important safety and environmental consequences. While classical theories attribute these oscillations to linear instabilities caused by reaction delays and inertia, this study explores an alternative stochastic perspective. Using a linearly stable car-following model, we show that white Gaussian noise in the measurement of the inter-vehicle distance can destabilise the flow, inducing a phase transition to periodic stop-and-go dynamics via a nonlinear instability mechanism. Furthermore, we demonstrate that a simple linear transformation of the model, which amplifies the system response while introducing a positive acceleration bias, can counteract noise-induced effects and restores the stability of uniform traffic flow. These findings, supported by numerical simulations, aim to provide new insights into the modelling and control of oscillatory traffic dynamics.

physics.soc-ph↗

arXiv2025

Understanding Collective Stability of ACC Systems: From Theory to Real-World Observations

Autonomated vehicles (AVs) are expected to have a profound impact on society, with high expectations for their potential benefits. One key anticipated benefit is the reduction of traffic congestion and stop-and-go waves, which negatively affect fuel efficiency, travel time, and environmental sustainability. This paper presents a comprehensive review and meta-analysis of the impact of AVs on the longitudinal collective stability of vehicle single file. We focus on adaptive cruise control (ACC) systems, a widely used precursor technology to fully autonomous driving. ACC controllers have been studied extensively in both theoretical and practical contexts, making it a valuable starting point for analysis. Our study systematically differentiates the findings from models and simulations, controlled experiments, and empirical observations to provide a structured overview of existing research. Although some results in the literature are contradictory, three key insights emerge from our analysis: i) String stability is highly dependent on the chosen time gap and reaction/response time. ii) ACC systems currently implemented in commercial vehicles are not string stable, as manufacturers prioritise individual comfort and smooth driving, resulting in high system response times. iii) Although cooperative ACC (CACC) systems are theoretically the most effective solution to ensure string stability, their widespread implementation in the near future remains uncertain. Instead, improvements in autonomous control algorithms should be considered to enhance system performance.

physics.soc-ph↗