Related papers: On the Complexity of an Unregulated Traffic Crossi…

This paper tackles the challenge of coordinating traffic lights and automated vehicles at signalized intersections, formulated as a constrained finite-horizon optimal control problem. The problem falls into the category of mixed-integer…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…

How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…

This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance.…

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…

Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

This paper proposes a centralized multi-vehicle coordination scheme serving unsignalized intersections. The whole process consists of three stages: a) target velocity optimization: formulate the collision-free vehicle coordination as a…

Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…

We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…

This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…

The increasing wireless communication capabilities of vehicles creates opportunities for more efficient intersection management strategies. One promising approach is the replacement of traffic lights with a system wherein vehicles run…

Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…

Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…

This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…

In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…