In recent years, Connected and Automated Vehicles (CAVs) have become a major focus of research and development efforts in the automotive industry. CAVs are expected to significantly impact the transportation, energy and land use and the broader economy and society. CAVs have also re-invigorated the field of vehicle dynamics and control, and inspired many contemporary directions for research. The cross disciplinary focus in which the treatment of vehicle dynamics and control is integrated with developments in perception, artificial intelligence based decision making, motion planning, energy management, wireless communications, cybersecurity, etc. has added much excitement to the field, and attracted many researchers from other domains. CAVs have also promoted a paradigm shift with real interest emerging in the use of advanced (by automotive industry standards) methods, such as model predictive control and reinforcement learning, in production. Consequently, a Theme Issue which is focused on the ongoing research on CAVs is both relevant and timely to the Vehicle Systems Dynamics journal. The papers in this Theme Issue come from several leading research groups in automotive control worldwide; the papers correspond to a subset of invited talks given at 3rd IAVSD Workshop on Dynamics of Road Vehicles held on 28–30 April 2019 in Ann Arbor, Michigan, USA. A brief description of the contributions follows. The paper by T. Ersal, I. Kolmanovsky, N. Masoud, N. Ozay, J. Scruggs, R. Vasudevan and G. Orosz titled ‘Connected and Automated Road Vehicles: State of the Art and Future Challenges’ provides a general overview of the field. Recent approaches to modelling the dynamics and model based control design for automated vehicles are summarised, and new methods for safety verification of these controllers are highlighted. The advantages of vehicle automation and connectivity in powertrain control and optimisation are quantified and the positive impacts of CAVs on traffic dynamics are emphasised. Finally, the longterm societal effects of CAV deployments are discussed and future opportunities in the field are pointed out. The paper by K. Berntorp, R. Quirynen, T. Uno and S. Di Cairano titled ‘Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces’ describes the development and implementation of an adaptive nonlinear model predictive controller for vehicle dynamics. The tire stiffness is estimated under normal driving conditions (when slip is small) and this estimate is used to inform the entire tire force curve based on the model library. The latter is used for model predictive control during driving at tire-road adhesion limits. Feasibility of real time implementation is demonstrated, and preliminary experimental results are included. The paper by R. Hult, M. Zanon, S. Gros, H. Wymersch and P. Falcone titled ‘Optimization-based Coordination of Connected, Automated Vehicles at Intersections’ proposes a two stage procedure for controlling traffic flow through intersections. In the

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联网和自动化道路车辆的主题问题

近年来，联网和自动驾驶汽车 (CAV) 已成为汽车行业研发工作的主要焦点。预计 CAV 将对交通、能源和土地使用以及更广泛的经济和社会产生重大影响。CAV 还重振了车辆动力学和控制领域，并激发了许多当代研究方向。车辆动力学和控制的处理与感知、基于人工智能的决策、运动规划、能源管理、无线通信、网络安全等领域的发展相结合的跨学科焦点为该领域增添了许多兴奋，并吸引了许多人其他领域的研究人员。CAV 还促进了范式转变，人们对在生产中使用高级（按汽车行业标准）方法（例如模型预测控制和强化学习）产生了真正的兴趣。因此，专注于正在进行的 CAV 研究的主题问题与“车辆系统动力学”杂志既相关又及时。本期主题论文来自全球多个汽车控制领域的领先研究小组；这些论文对应于 2019 年 4 月 28 日至 30 日在美国密歇根州安娜堡举行的第三届 IAVSD 道路车辆动力学研讨会上的部分受邀演讲。以下是对贡献的简要说明。T. Ersal、I. Kolmanovsky、N. Masoud、N. Ozay、J. Scruggs、R. Vasudevan 和 G. Orosz 的论文题为“互联和自动化道路车辆：State of the Art and Future Challenges' 提供了该领域的一般概述。总结了自动车辆动力学建模和基于模型的控制设计的最新方法，并强调了这些控制器安全验证的新方法。量化了车辆自动化和连接在动力总成控制和优化方面的优势，并强调了 CAV 对交通动态的积极影响。最后，讨论了 CAV 部署的长期社会影响，并指出了该领域的未来机会。K. Berntorp、R. Quirynen、T. Uno 和 S. Di Cairano 撰写的题为“不同路面上自动驾驶车辆的轨迹跟踪”的论文描述了用于车辆动力学的自适应非线性模型预测控制器的开发和实现。轮胎刚度是在正常驾驶条件下（滑移较小时）估算的，该估算值用于根据模型库通知整个轮胎力曲线。后者用于在轮胎-道路附着力限制下行驶期间的模型预测控制。证明了实时实施的可行性，并包括初步实验结果。由 R. Hult、M. Zanon、S. Gros、H. Wymersch 和 P. Falcone 撰写的题为“交叉路口互联自动车辆的基于优化的协调”的论文提出了一个两阶段程序来控制通过交叉路口的交通流量。在里面 后者用于在轮胎-道路附着力限制下行驶期间的模型预测控制。证明了实时实施的可行性，并包括初步实验结果。由 R. Hult、M. Zanon、S. Gros、H. Wymersch 和 P. Falcone 撰写的题为“交叉路口互联自动车辆的基于优化的协调”的论文提出了一个两阶段程序来控制通过交叉路口的交通流量。在里面 后者用于在轮胎-道路附着力限制下行驶期间的模型预测控制。证明了实时实施的可行性，并包括初步实验结果。由 R. Hult、M. Zanon、S. Gros、H. Wymersch 和 P. Falcone 撰写的题为“交叉路口互联自动车辆的基于优化的协调”的论文提出了一个两阶段程序来控制通过交叉路口的交通流量。在里面