Xueli Fan
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Xueli Fan has a total of 9 co-authors. Here are the top co-authors by number of shared publications:
- Qixin Wang
Department of Computing, The Hong Kong Polytechnic University, Hong Kong
2 shared publications - Bohuan Xue
South China Normal University
1 shared publication - Chengxi Zhang
School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, China
1 shared publication - Edward Chung
The Hong Kong Polytechnic University
1 shared publication - Jie Liu
Harbin Institute of Technology, Shenzhen, China
1 shared publication - Jieming Chen
Department of Electrical and Electronic Engineering, The Hong Kong Polytechnic University, Hong Kong, China
1 shared publication
Latest Publications
- 30 October 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Vehicular Technology
- Vol. 75 (5) , 7205-7221
Consensus-Based Cooperative Control for Connected Vehicle Platoon With Time-Varying Delays and Switching Topologies
Vehicular platoon control can effectively achieve group consensus, improve vehicular running safety, and increase road capacity. However, practical constraints arise due to the limitations of the traffic environment, including time-varying metrics such as time delays and switching topologies in wireless communication systems. In this work, a distributed consensus protocol that considers time-varying delays and random switching communication topologies is designed to stabilize the connected vehicle platoon. Then, a novel control mode is introduced, along with a platoon control algorithm for connected vehicles that integrates physical and communication constraints. Furthermore, the consensus and string stability of this strategy are meticulously analyzed using the Lyapunov-Krasovskii approach. Finally, the effectiveness of our approach is demonstrated through extensive numerical simulations, which incorporate complex leading vehicle behaviors, such as sudden deceleration and emergency stop. Our protocol exhibits advantages in terms of stability, adaptability, and effectiveness in varying communication environments compared to the other solution.
- 30 October 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Vehicular Technology
- Vol. 75 (5) , 7205-7221
Consensus-Based Cooperative Control for Connected Vehicle Platoon With Time-Varying Delays and Switching Topologies
Vehicular platoon control can effectively achieve group consensus, improve vehicular running safety, and increase road capacity. However, practical constraints arise due to the limitations of the traffic environment, including time-varying metrics such as time delays and switching topologies in wireless communication systems. In this work, a distributed consensus protocol that considers time-varying delays and random switching communication topologies is designed to stabilize the connected vehicle platoon. Then, a novel control mode is introduced, along with a platoon control algorithm for connected vehicles that integrates physical and communication constraints. Furthermore, the consensus and string stability of this strategy are meticulously analyzed using the Lyapunov-Krasovskii approach. Finally, the effectiveness of our approach is demonstrated through extensive numerical simulations, which incorporate complex leading vehicle behaviors, such as sudden deceleration and emergency stop. Our protocol exhibits advantages in terms of stability, adaptability, and effectiveness in varying communication environments compared to the other solution.
- Open Access
- 8 April 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Mobile Computing
- Vol. 24 (9) , 8362-8378
A CAV Cooperative Lane Change Protocol With CTH Safety Guarantee on Dedicated Highways
Autopiloting Connected and Autonomous Vehicles (CAVs) is an important application for mobile computing. A promising context to realize autopiloting CAVs is cooperative driving on dedicated highways. For such a context, an indispensable driving scenario is Cooperative Lane Change (CLC). Due to the safety concerns of this driving scenario, a verifiably safe solution is needed (at least, the solution design should be formally provably safe). However, this demand is complicated by the inherently unreliable wireless communications between the CAVs. In this paper, we focus on the well-adopted Constant Time Headway (CTH) safety rule. We propose a CLC protocol, and formally prove its guarantee of the CTH safety and liveness, even under arbitrary wireless packet losses. These theoretical claims are further confirmed by our simulations. The simulation results also show that our proposed protocol significantly improves lane change success rates (by$5.3\% \sim +\infty \%$ ) than other alternatives under adverse conditions. Furthermore, the sensitivity study results also show our protocol can tolerate reasonable disturbances.- 8 April 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Mobile Computing
- Vol. 24 (9) , 8362-8378
Open AccessA CAV Cooperative Lane Change Protocol With CTH Safety Guarantee on Dedicated Highways
Autopiloting Connected and Autonomous Vehicles (CAVs) is an important application for mobile computing. A promising context to realize autopiloting CAVs is cooperative driving on dedicated highways. For such a context, an indispensable driving scenario is Cooperative Lane Change (CLC). Due to the safety concerns of this driving scenario, a verifiably safe solution is needed (at least, the solution design should be formally provably safe). However, this demand is complicated by the inherently unreliable wireless communications between the CAVs. In this paper, we focus on the well-adopted Constant Time Headway (CTH) safety rule. We propose a CLC protocol, and formally prove its guarantee of the CTH safety and liveness, even under arbitrary wireless packet losses. These theoretical claims are further confirmed by our simulations. The simulation results also show that our proposed protocol significantly improves lane change success rates (by$5.3\% \sim +\infty \%$ ) than other alternatives under adverse conditions. Furthermore, the sensitivity study results also show our protocol can tolerate reasonable disturbances. - Open Access
- 14 October 2023
- Published by Association for Computing Machinery (ACM) in ACM Transactions on Cyber-Physical Systems
- Vol. 7 (4) , 1-26
A Reliable Wireless Protocol for Highway and Metered-Ramp CAV Collaborative Merging with Constant-Time-Headway Safety Guarantee
To realize the grand vision of automated driving in smart vehicle cyber-physical systems (CPS), one important task is to support the merging of connected automated vehicles (CAVs) from a metered-ramp to highway. Certain safety rules must be guaranteed. However, this demand is complicated by the inherently unreliable wireless communications. In this article, we focus on the well adopted constant-time-headway (CTH) safety rule. We propose a highway and metered-ramp CAV collaborative merging protocol, and formally prove its guarantee of the CTH safety and liveness under arbitrary wireless data packet losses . These theoretical claims are further validated by our simulations. Furthermore, the simulation results also show significant improvements in the merging efficiency over other solution alternatives. Particularly, the merging success rates are more than 99% better in 11 out of 18 comparison pairs, and 0% (i.e., tied) ∼ 71% better in the remaining 7 comparison pairs.
- 14 October 2023
- Published by Association for Computing Machinery (ACM) in ACM Transactions on Cyber-Physical Systems
- Vol. 7 (4) , 1-26
Open AccessA Reliable Wireless Protocol for Highway and Metered-Ramp CAV Collaborative Merging with Constant-Time-Headway Safety Guarantee
To realize the grand vision of automated driving in smart vehicle cyber-physical systems (CPS), one important task is to support the merging of connected automated vehicles (CAVs) from a metered-ramp to highway. Certain safety rules must be guaranteed. However, this demand is complicated by the inherently unreliable wireless communications. In this article, we focus on the well adopted constant-time-headway (CTH) safety rule. We propose a highway and metered-ramp CAV collaborative merging protocol, and formally prove its guarantee of the CTH safety and liveness under arbitrary wireless data packet losses . These theoretical claims are further validated by our simulations. Furthermore, the simulation results also show significant improvements in the merging efficiency over other solution alternatives. Particularly, the merging success rates are more than 99% better in 11 out of 18 comparison pairs, and 0% (i.e., tied) ∼ 71% better in the remaining 7 comparison pairs.