Related papers: Semi-autonomous Intersection Collision Avoidance t…
Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in…
With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…
Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…
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…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Several autonomous driving strategies have been applied to autonomous vehicles, especially in the collision avoidance area. The purpose of collision avoidance is achieved by adjusting the trajectory of autonomous vehicles (AV) to avoid…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
Semi-autonomous driving, as it is already available today and will eventually become even more accessible, implies the need for driver and automation system to reliably work together in order to ensure safe driving. A particular challenge…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…