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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…
This study examines the digital value chain in automotive manufacturing, focusing on the identification, software flashing, customization, and commissioning of electronic control units in vehicle networks. A novel precedence graph design is…
Technology of autonomous vehicles (AVs) is getting mature and many AVs will appear on the roads in the near future. AVs become connected with the support of various vehicular communication technologies and they possess high degree of…
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,…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…
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…
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…
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 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…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
In this paper, we propose a Q-learning based decision-making framework to improve the safety and efficiency of Autonomous Vehicles when they encounter other maliciously behaving vehicles while passing through unsignalized intersections. In…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
As a combination of various kinds of technologies, autonomous vehicles could complete a series of driving tasks by itself, such as perception, decision-making, planning, and control. Since there is no human driver to handle the emergency…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
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…
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…