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The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular communication technologies such as Dedicated Short-Range Communications (DSRC) or Cellular-Based Vehicle-to-Everything (C-V2X) communications unavoidably introduce issues like communication delay and packet loss, which will downgrade the performances of any CAV applications. In this study, we propose a consensus-based motion estimation methodology to estimate the vehicle motion when the vehicular communication environment is not ideal. This methodology is developed based on the consensus-based feedforward/feedback motion control algorithm, estimating the position and speed of a CAV in the presence of communication delay and packet loss.

Highway on-ramp merging is considered as one of the main factors that causes traffic congestion on highways. The drivers along the on-ramp need to adjust vehicle speeds and positions to enter the highway, while the drivers on the highway should also carefully accommodate vehicle speeds and positions to avoid collision with the merging vehicles from the on-ramp, which heavily affects upstream traffic flows. In congested traffic conditions, such maneuvers if inefficiently performed will lead to high risks of accidents and excessive energy consumption and pollutant emissions. In this work, we present an innovative approach to this scenario, where distributed consensus protocol is developed for Connected and Automated Vehicles (CAV) to cooperate with each other by using Vehicle-to-X (V2X) communications.