Related papers: Autonomous Vehicle Scheduling At Intersections Bas…
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…
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…
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…
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…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
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…
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…
The increasing wireless communication capabilities of vehicles creates opportunities for more efficient intersection management strategies. One promising approach is the replacement of traffic lights with a system wherein vehicles run…
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 the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
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…
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…
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…
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…
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…
We investigate the behaviour of an original traffic model. The model considers a single multi-lane street, populated by autonomous vehicles directed from either end to the other. Lanes have no intrinsic directionality, and the vehicles are…
In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent…