The concept of utilizing vehicle-to-everything (V2X) connectivity to improve the resilience
of automated vehicles in an environment where optical sensors may not provide reliable
data is investigated. Longitudinal and lateral controllers are designed to enable
a connected automated vehicle (CAV) to utilize V2X information from nearby connected
human-driven vehicles (CHVs). The linear stability of the controllers are investigated
theoretically while taking into account the time delays in the feedback loops. Novel
performance measures are introduced to quantify the plant and string stability properties
of the longitudinal controller from experimental data. The stability of the lateral
controller is also evaluated in lane-keeping experiments. The robustness of the designed
controllers against latency is demonstrated and the performance of the overall systems
is showcased experimentally using real vehicles on a test track.
