Related papers: Production Line Technique for Autonomous Vehicle S…
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…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
With the emergence of autonomous vehicles, it is important to understand their impact on the transportation system. However, conventional traffic simulations are time-consuming. In this paper, we introduce an analytical traffic model for…
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…
Time-dependent fixed-time control is a cost-effective control method that is widely employed at signalized intersections in numerous countries. Existing optimization models rely on traditional delay models with specific assumptions…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
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…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
Lane-change maneuvers are a leading cause of highway accidents, underscoring the need for accurate intention prediction to improve the safety and decision-making of autonomous driving systems. While prior studies using machine learning and…
Detecting emergency vehicles arrival on roads has been the focus for many researchers. It is quite important to detect the emergency vehicles (e.g; ambulance) arrival to traffic light to give the green light for it to pass through. Many…
This paper proposes a traffic control scheme to alleviate traffic congestion in a network of interconnected signaled lanes/roads. The proposed scheme is emergency vehicle-centered, meaning that it provides an efficient and timely routing…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
Originally, the decision and control of the lane change of the vehicle were on the human driver. In previous studies, the decision-making of lane-changing of the human drivers was mainly used to increase the individual's benefit. However,…
In this paper, methods have been explored to effectively optimise traffic signal control to minimise waiting times and queue lengths, thereby increasing traffic flow. The traffic intersection was first defined as a Markov Decision Process,…
In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor…
Inefficiencies in traffic flow through an intersection lead to stopping vehicles, unnecessary congestion, and increased accident risk. In this paper, we propose a traffic signal controller platform demonstrating the ability to increase…
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…