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Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In earlier work, we addressed the optimal coordination of CAVs using Hamiltonian analysis. In this…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
An automated vehicle refers to a vehicle that can achieve a safe movement on a roadway facility without the influence of a human driver. With emerging trend of the connected vehicle concept over the past decade, numerous state-of-the-art…
An Autonomous Road Vehicle (ARV) can navigate various types of road networks using inputs such as throttle (acceleration), braking (deceleration), and steering (change of lateral direction). In most ARV driving scenarios that involve normal…
This work investigates the effect of three different driveability constraints on the optimal energy management strategy for a p2 parallel hybrid. Two of these constraints are used to prevent frequent gear shifting and engine start/stops,…
The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…
Connected and automated vehicles (CAVs) represent the future of transportation, utilizing detailed traffic information to enhance control and decision-making. Eco-driving of CAVs has the potential to significantly improve energy efficiency,…
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.…
Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
Vehicle-infrastructure communication opens up new ways to improve traffic flow efficiency at signalized intersections. In this study, we assume that equipped vehicles can obtain information about switching times of relevant traffic lights…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
This paper presents a method based on precise modeling of traffic flow using a fuzzy-real algorithm for optimal control of a signalized intersection. By improving social indicators such as security, well-fare and economy, intercity…
Connected and automated vehicles (CAVs) and human-driven vehicles (HVs) are expected to coexist in the near future. CAV-dedicated lanes and phases have been explored to handle the uncertainty in the driving behavior of HVs in the mixed…
In this paper, a multi-lane multi-population microscopic model, which presents stop and go waves, is proposed to simulate traffic on a ring-road. Vehicles are divided between human-driven and autonomous vehicles (AV). Control strategies are…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…