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To investigate the impact of Autonomous Vehicles (AVs) on urban congestion, this study looks at their performance at road intersections. Intersection performance has been studied across a range of traffic densities using a simple MATLAB…
Traffic congestion is a widespread problem. Dynamic traffic routing systems and congestion pricing are getting importance in recent research. Lane prediction and vehicle density estimation is an important component of such systems. We…
Platooning represents an advanced driving technology designed to assist drivers in traffic convoys of varying lengths, enhancing road safety, reducing driver fatigue, and improving fuel efficiency. Sophisticated automated driving assistance…
This paper addresses cooperative lane-changing maneuvers in mixed traffic, aiming to minimize traffic flow disruptions while accounting for uncooperative vehicles. The proposed approach adopts controllers combining Optimal control with…
The safety of single-vehicle autonomous driving technology is limited due to the limits of perception capability of on-board sensors. In contrast, vehicle-road collaboration technology can overcome those limits and improve the traffic…
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…
Traffic congestion has lead to an increasing emphasis on management measures for a more efficient utilization of existing infrastructure. In this context, this paper proposes a novel framework that integrates real-time optimization of…
This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…
Vehicular safety communications (VSCs) are known to provide relevant contributions to avoid congestions and prevent road accidents, and more particularly at road intersections since these areas are more prone to accidents. In this context,…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…
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,…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of…
Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…
When selfish users share a road network and minimize their individual travel costs, the equilibrium they reach can be worse than the socially optimal routing. Tolls are often used to mitigate this effect in traditional congestion games,…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
We consider the scenario where human-driven/autonomous vehicles with low/high occupancy are sharing a segment of highway and autonomous vehicles are capable of increasing the traffic throughput by preserving a shorter headway than…
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only.…