Xiao-Yun Lu


Richmond Field Station, Bldg 452, MC 3580
1357 S. 46th Street
RichmondCA 94804
United States
Email Address: 


Dr. Xiao-Yun Lu is currently a Research Engineer at California PATH. He has over 30 years experiences in systems modeling, measurement, estimation, simulation, optimization, control, and real-time implementation; vehicle and highway automation – automated vehicle (passenger cars and heavy-duty vehicles) dynamics modeling, control design and implementation; energy consumption of automated vehicles and traffic systems for eco-driving; traffic monitoring, sensor detection and fusion; traffic system modeling, estimation, control and optimization (Coordinated Ramp Metering and Variable Speed Limit/Advisory);  goods movement; airport ground access planning; vehicle dynamics and control; active vehicle and intersection safety. He is a Principal Investigator/Researcher of multiple PATH projects.


  • Control design, simulation, implementation and field test of 3-truck platooning for mobility and energy efficiency improvement using DSRC V2V;
  • Cooperative Adaptive Cruise Control (CACC) design and implementation on heavy-duty trucks and passenger cars for freeway driving with public traffic
  • Freeway corridor traffic detection, modeling, simulation, optimal control algorithm development and field implementation with combined Variable Speed Limit/Advisory (VSL/VSA) and Coordinated Ramp Metering (CRM); 
  • Coordination of freeway corridor ramp metering and arterial corridor intersection traffic signal control;

Other links:

Google Scholar: https://scholar.google.com/citations?user=gZpGE1YAAAAJ&hl=en

Research Gate: https://www.researchgate.net/profile/Xiao_Yun_Lu/ 


BSc., 1982,  Mathematics, Sichuan University, China

MSc., 1985, Applied Mathematics, Institute of Systems Science, Chinese Academy of Sciences, Beijing, China

Ph. D.1994, Systems and Control Engineering, University of Manchester, the United Kingdom


  • Lecturer of Applied Mathematics and Director of Fundamental Math. Group, 05/85-10/89, Dept. of Applied Mathematics, Sichuan University, China; 
  • Research Associate, Department of Engineering, Univ. of Leicester, U. K. 03/94 - 04/99  
  • Associate Research Engineer, California PATH, U. C.  Berkeley, 04/99 – 06/08
  • Research Engineer, California PATH, U. C.  Berkeley, 07/08 -
  • Affiliated Scientist of Lawrence Berkeley National Laboratory, 10/2017 -


Member of TRB Vehicle and Highway Automation Committee (AHB30), past member of TRB Highway Traffic Monitoring Committee (ABJ35), member of TRB Active Traffic Management Sub-committee, and previous MTC Advisory Council; Reviewer of Mathematical Review; Recipient of 2008 IET ITS Best Paper Awards; Associate Editors of several international journals.


3-Truck CACC Test at 4 [m] and 65 [mph] at PMG Track, Montreal Canada, Aug 2017:
PATH 3-Truck CACC (Cooperative Adaptive Cruise Control) Demo with Public Traffic on Interstate 110 in LA, 2017 
SAE Article: Appraising the potential for platooning in the U.S. (http://articles.sae.org/15527/ )
Montreal 3-Truck CACC Fuel Econ Test on PMG Test Track, Montreal, Canada, 2016:
3-truck CACC test on freeways, 2016:
3-Truck CACC on Highway 4 and Interstate 80, in 2016:
3-trukc platoon with 6m constant gap at 55mph on SR722 Nevada in 2009:
2-truck platooning test at 55mph with 3m constant following gap in Crows Landing NASA airport:
5-Cadillac SUV CACC implementation 2015:
Truck Driver Assistance 2005:
3 Connected Automated Vehicle (CAV) Merging:


  • X. Y. Lu, S.E. Shladover, Integrated ACC and CACC Development for Heavy-Duty Truck Partial Automation, 2017 American Control Conference, (ACC-17), May 24-26, Seattle, WA, USA
  • C. Nowakowski, D. Thompson, S. Shladover, A. Kailas, and X. Y. Lu, Operational concepts for truck Cooperative Adaptive Cruise Control (CACC) maneuvers, TRB Annual Meeting, Jan 10-14, 2016, Washington D. C.; Transportation Research Record, Journal of TRB, #2559-07 (DOI: 10.3141/2559-07)
  • X. Y. Lu, S.E. Shladover, C. Nowakowski, Dali Wei, and R. Ferlis, Using Cooperative ACC to Form High-Performance Vehicle Streams, presented at Automated Vehicle Symposium, Ann Arbor, Michigan, July 20-24, 2015
  • Shladover, S., C. Nowakowski, X. Y. Lu, and R. Ferlis, Cooperative Adaptive Cruise Control (CACC) definitions and operating concepts, presented at 94th TRB Annual Conference, Washington D. C., Jan. 2015; Transportation Research Record, Journal of TRB, #.2489, pp. 145–152
  • X. Y. Lu and S. Shladover, Automated Truck Platoon Control and Field Test, Road Vehicle Automation, Editors: Gereon Meyer and Sven Beiker, Lecture Notes in Mobility, ISSN: 2196-5544, Springer, 2014
  • Q. Gu,  X. Y. Lu  and  T. Tang, Energy Saving for Automatic Train Control in Moving Block Signaling System, CD ROM IEEE ITS Conference, George Washington Univ. Washing D. C., Oct. 5-7, 2011
  • H. J. Fang, X. Y. Lu, J. Lu and Z. Lin, System optimization in the control of heavy duty vehicle braking sub-systems, CD ROM of IEEE Conf. on Control and Decision, Shanghai, China, Dec. 16-18 2009.
  • X. Y. Lu and J. K. Hedrick, Heavy-Duty Vehicle modeling and longitudinal Control, Int. J. of Vehicle Systems Dynamics, Vol. 43, No. 9, Sept. 2005, p653-669
  • X. Y. Lu and J. K. Hedrick, 2004, Impact of combined longitudinal, lateral and vertical control on autonomous road vehicle design, Int. J. of Vehicle Autonomous Systems, Vol. 2, no s1/2, p40-70
  • X. Y. Lu and J. K. Hedrick, 2003, Longitudinal control design and experiment for Heavy-Duty Trucks, Proc. of 2003 American Control Conference, June 4-6, Denver, Colorado, USA
  • X. Y. Lu and J. K. Hedrick, 2003, Longitudinal control algorithm for automated vehicle merging, Int. J. of Control, Vol. 76, No. 2, p193-202
  • X. Y. Lu, H. S. Tan, S. E. Shladover, J. K. Hedrick, 2002, Implementation of longitudinal control algorithm for vehicle merging, Int. J. Vehicle System Dynamics, Vol. 41, No. 2, Feb. 2004, p85-107
  • X. Y. Lu and K. Hedrick, 2004, Practical string stability for Longitudinal Control of Automated Vehicles, Int. J. of Vehicle Systems Dynamics Supplement, Vol. 41, p577-586
  • X. Y. Lu, J. K. Hedrick and M. Drew, 2002, ACC/CACC - Control design, stability and robust performance, Proc. of American Control Conference - 2002, p4327-4332, May 8-10, Anchorage, Alaska
  • X. Y. Lu and J. K. Hedrick, 2002, A panoramic view of fault management for longitudinal control of automated vehicle platooning, Proc. of the  2002 ASME Congress, Nov. 17-22, New Orleans
  • X. Y. Lu, S. Shladover, and J. Hedrick, Longitudinal transition control for Heavy-Duty-Trucks: between manual and automatic, Proc. 15th ITS World Congress,  November 16-20, 2008, New York, DOI: 10.13140/2.1.2826.1125
  • H. Liu, D. Kan, S. E. Shladover, X. Y. Lu, R. Ferlis, Impact of Cooperative Adaptive Cruise Control (CACC) on Multilane Freeway Merge Capacity, submitted, Feb 2017
  • Lu, X. Y., S. Shladover, I. Jawad, R. Jagannathan, and T. Phillips, A novel speed-measurement based variable speed limit/advisory algorithm for a freeway corridor with multiple bottlenecks, 94th TRB Annual Conference, Washington D. C., Jan. 2015; Transportation Research Record, #2489,  p86–96; DOI: 10.3141/2489-10
  • D. Y. Su, X. Y. Lu, R. Horowitz, Z. R. Wang, Coordinated Ramp Metering and Intersection Signal Control, International Journal of Transportation Science and Technology, Vol. 3, No. 2, Sept 2014, p179 – 191
  • X. Y. Lu, T. Z. Qiu, R. Horowitz, A. Chow, and S. Shladover, METANET Model Improvement for Traffic Control, Int. J. of Transportation, Vol. 2, No. 2, August 2014, pp.65-88
  • X. Y. Lu and S. Shladover, Review of Variable Speed Limits/Advisories – Theory, Algorithms and Practice, 93rd TRB Annual Meeting, Washington D. C., Jan.12-16, 2014; Transportation Research Record, TRB, # 2423, 2014, pp. 15–23.
  • X. Y. Lu, P. Varaiya, R. Horowitz, D. Su and S. E. Shladover, A novel freeway traffic control with variable speed limit and coordinated ramp metering, Transportation Research Record #2229, TRB, 2011, pp55-65
  • S. Shladover, D. Su, and X. Y. Lu, Impacts of Cooperative Adaptive Cruise Control on freeway traffic flow, Transportation Research Record #2324, pp63-70, 2012
  • Z. J. Qiu, and X. Y. Lu, and Chow, A. H. F., and Steven E. Shladover, Freeway Traffic Density Estimation with Loop Detector and Probe Vehicle Data, 89th TRB Annual Meeting, Washington D. C.  Jan.10-14, 2010; Transportation Research Record #2178,  p21-29
  • X. Y. Lu, J. Wang, S. Eben Li, and Y. Zheng, Multiple-vehicle longitudinal collision mitigation by coordinated brake control, Mathematical Problems in Engineering, vol. Sept. 2014, Article ID 192175, 13 pages, 2014. doi:10.1155/2014/192175.
  • X. Y. Lu, S. Shladover, and W. B. Zhang, Quantitative testing of a frontal collision warning system for transit buses, IET ITS, Vol. 1, 2007, p215-223   (won Best Paper Awards)
  • X. Y. Lu and A. Skabardonis, Freeway Traffic Shockwave Analysis: Exploring the NGSIM Trajectory Data, TRB 86th Annual Meeting, Washington, D.C., Jan 21-25, 2007
  • K. Sivakumaran, X. Y. Lu, and M. Hanson, The Use of Passenger Transit Infrastructure for Goods Movement: A Bay Area Economic Feasibility Study, 89th TRB Annual Meeting, Jan.10-14, 2010; Transportation Research Record, No. 2162, TRB, p.44-52

Additional information, including more of Xiao-Yun's publications can be found in the links below: