Related papers: Polling-systems-based Autonomous Vehicle Coordinat…
Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
Prior research has extensively explored Autonomous Vehicle (AV) navigation in the presence of other vehicles, however, navigation among pedestrians, who are the most vulnerable element in urban environments, has been less examined. This…
With the rapid development of connected and automated vehicles (CAVs) and intelligent transportation infrastructure, CAVs, connected human-driven vehicles (CHVs), and un-connected human-driven vehicles (HVs) will coexist on the roads in the…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…
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…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
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,…
This paper introduces a self-organizing traffic signal system for an urban road network. The key elements of this system are agents that control traffic signals at intersections. Each agent uses an interval microscopic traffic model to…
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way.…
We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…
Traffic signal control is safety-critical for our daily life. Roughly one-quarter of road accidents in the U.S. happen at intersections due to problematic signal timing, urging the development of safety-oriented intersection control.…
Conventional urban traffic control systems have been based on historical traffic data. Later advancements made use of detectors, which enabled the gathering of real time traffic data, in order to reorganize and calibrate traffic…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
Based on game theory and dynamic Level-k model, this paper establishes an intelligent traffic control method for intersections, studies the influence of multi-agent vehicle joint decision-making and group behavior disturbance on system…
In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and…