https://m2.mtmt.hu/ hun 2026-05-01 03:49 JournalArticle 32653366 APPROVED true Budapest University of Technology and Economics, Department of Applied Mechanics, Budapest, H-1111, Hungary University of Bristol, Department of Engineering Mathematics, Bristol, BS8 1TW, United Kingdom University of Michigan, Department of Mechanical Engineering, Ann Arbor, MI 48109, United States Toyota Motor North America R&D - Infotech Labs, Mountain View, CA 94043, United States Plus.ai Inc., Cupertino, CA 95014, United States MTA-BME Research Group on Dynamics of Machines and Vehicles, Budapest, H-1111, Hungary University of Michigan, Department of Civil and Environmental Engineering, Ann Arbor, MI 48109, United States Correspondence Address: Takacs, D.; Budapest University of Technology and Economics, Hungary; email: takacs@mm.bme.hu 0 false 2026-04-29T04:44:50.994+0000 2024-02-09T10:13:06.638+0000 2022-02-07T17:40:04.625+0000 true 10049622 Beregi Sándor /api/author/10049622 Author true 10049622 2025-01-11T23:15:53.576+0000 2025-01-11T23:15:53.576+0000 true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Beregi, Sandor Connectivity-Based Delay-Tolerant Control of Automated Vehicles: Theory and Experiments true true /api/journal/10071803 REVIEWED true false 10071803 false 10071803 true 2379-8858 2379-8904 Journal FOREIGN 8 1 275 289 275 15 2023 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. true true 2022 true true true false true false RESTRICTED 2026-04-29 false 28 0 28 19 8 28 28 28 10 28 28 19 19 19 9 0 28 19 28 19 0 6 6 Folyóiratcikk Journal Article 24 25 Könyvrészlet Chapter in Book 25 3 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2022 0 1 0 1 0 2023 0 7 6 7 6 2024 0 8 5 8 5 2025 0 9 6 9 6 2026 0 3 2 3 2 D1 false 10049622 false false false 2022-05-08T17:59:31.344+0000 MTA-BME Gépek és Járművek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 3 8 2 5 0 true Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 100474919 /api/authorship/100474919 1 0.2 true false false Author 10049622 /api/author/10049622 Beregi Sándor true 10049622 true Beregi Sandor true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 100474920 /api/authorship/100474920 2 0.2 false false false Avedisov Sergei S true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 100474921 /api/authorship/100474921 3 0.2 false false false He Chaozhe R true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 100474922 /api/authorship/100474922 4 0.2 false false false Author 10019718 /api/author/10019718 Takács Dénes true 10019718 true Takacs Denes true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 100474923 /api/authorship/100474923 5 0.2 false true false Author 10088495 /api/author/10088495 Orosz Gábor true true Orosz Gabor true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PublicationIdentifier 20550585 /api/publicationidentifier/20550585 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1109/TIV.2021.3131957 https://doi.org/10.1109/TIV.2021.3131957 false true PublicationIdentifier 20579244 /api/publicationidentifier/20579244 SwordSource 36 /api/publicationsource/36 PublicationSourceType 10007 /api/publicationsourcetype/10007 true true true REAL REAL http://real.mtak.hu/@@@ true true 36 true RESTRICTED true 137673 http://real.mtak.hu/137673 false true PublicationIdentifier 23851426 /api/publicationidentifier/23851426 PlainSource 1 /api/publicationsource/1 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 000966729300001 https://www.webofscience.com/wos/woscc/full-record/000966729300001 false true PublicationIdentifier 23087349 /api/publicationidentifier/23087349 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85147540112 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85147540112 false true PublicationIdentifier 20550586 /api/publicationidentifier/20550586 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true https://ieeexplore.ieee.org/document/9632370/ https://ieeexplore.ieee.org/document/9632370/ false true Classification 10807 /api/classification/10807 true true Keyword 13630 /api/keyword/13630 true 13630 true Keyword 1001729 /api/keyword/1001729 true 1001729 true Keyword 1004074 /api/keyword/1004074 true 1004074 true Keyword 1035394 /api/keyword/1035394 true 1035394 true Keyword 1042835 /api/keyword/1042835 true 1042835 true Keyword 1168273 /api/keyword/1168273 true 1168273 true Keyword 1170421 /api/keyword/1170421 true 1170421 true Keyword 1260683 /api/keyword/1260683 true 1260683 true Keyword 1493582 /api/keyword/1493582 true true Keyword 1548309 /api/keyword/1548309 true true Keyword 2034549 /api/keyword/2034549 true true Keyword 3007933 /api/keyword/3007933 true true Keyword 3007934 /api/keyword/3007934 true true SjrRating 11356147 /api/sjrrating/11356147 25 0.1 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 1702 /api/classificationexternal/1702 true 1702 true D1 DIRECT true true /api/publication/32653366 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10049622"><a href="/gui2/?type=authors&mode=browse&sel=10049622" target="_blank">Beregi Sandor (<span class="authorship-author-name">Beregi Sándor</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Avedisov Sergei S </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >He Chaozhe R </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takacs Denes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/MTA-BME Gépek és Járművek Dinamikája Kutatócsoport; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10088495"><a href="/gui2/?type=authors&mode=browse&sel=10088495" target="_blank">Orosz Gabor (<span class="authorship-author-name">Orosz Gábor</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;32653366" target="_blank">Connectivity-Based Delay-Tolerant Control of Automated Vehicles: Theory and Experiments</a></div> <div> <span class="journal-title">IEEE TRANSACTIONS ON INTELLIGENT VEHICLES</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/2379-8858">2379-8858</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/2379-8904">2379-8904</a>)</span>: <span class="journal-volume">8</span> <span class="journal-issue">1</span> <span class="page"> pp 275-289 </span> <span class="year">(2023)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1109/TIV.2021.3131957" target="_blank" href="https://doi.org/10.1109/TIV.2021.3131957"> DOI </a> </span> <span class="id identifier oa_RESTRICTED" title=" Korlátozott "> <a style="color:black" title="137673" target="_blank" href="http://real.mtak.hu/137673"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000966729300001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000966729300001"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85147540112" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85147540112"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://ieeexplore.ieee.org/document/9632370/" target="_blank" href="https://ieeexplore.ieee.org/document/9632370/"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Artificial Intelligence&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Control and Optimization&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;D1</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 28</span> | Független: 19 | Függő: 9 | Nem jelölt: 0 | WoS jelölt: 28 | Scopus jelölt:&nbsp;10 | WoS/Scopus jelölt:&nbsp;28 | DOI jelölt:&nbsp;28 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;32653366&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 6 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 32653366</span> | <span class="status-data status-APPROVED"> Nyilvános </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2024.02.09. 11:13 Szatmári Erika (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Budapest University of Technology and Economics, Department of Applied Mechanics, Budapest, H-1111, Hungary University of Bristol, Department of Engineering Mathematics, Bristol, BS8 1TW, United Kingdom University of Michigan, Department of Mechanical Engineering, Ann Arbor, MI 48109, United States Toyota Motor North Americ...</pre> </div></div>