Related papers: Decentralized Optimal Control for Connected Automa…
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…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
New mobility concepts are at the forefront of research and innovation in smart cities. The introduction of connected and autonomous vehicles enables new possibilities in vehicle routing. Specifically, knowing the origin and destination of…
This paper examines the degree to which connectivity and automation can potentially reduce the overall fuel consumption of on-road vehicles. The paper begins with a simulation study highlighting the tradeoff between: (i) the fuel that a…
Intersections pose critical challenges in traffic management, where maintaining operational constraints and ensuring safety are essential for efficient flow. This paper investigates the effect of intervention timing in management strategies…
The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at…
We consider a class of optimal control problems for measure-valued nonlinear transport equations describing traffic flow problems on networks. The objective isto minimise/maximise macroscopic quantities, such as traffic volume or average…
Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…
Left-turn planning is one of the formidable challenges for autonomous vehicles, especially at unsignalized intersections due to the unknown intentions of oncoming vehicles. This paper addresses the challenge by proposing a critical turning…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
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…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Moving bottlenecks, such as slow-driving vehicles, are commonly thought of as impediments to efficient traffic flow. Here, we demonstrate that in certain situations, moving bottlenecks---properly controlled---can actually be beneficial for…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
With the forecasted emergence of autonomous vehicles in urban traffic networks, new control policies are needed to leverage their potential for reducing congestion. While several efforts have studied the fully autonomous traffic control…
The focus of this paper is on the rate and power control algorithms in Dedicated Short Range Communication (DSRC) for vehicular networks. We first propose a utility maximization framework by leveraging the well-developed network congestion…
Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…