Related papers: A Real-Time Optimal Eco-driving for Autonomous Veh…
Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…
Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…
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…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…
Vehicle-infrastructure communication opens up new ways to improve traffic flow efficiency at signalized intersections. In this study, we assume that equipped vehicles can obtain information about switching times of relevant traffic lights…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes performance optimization of the integrated system a significant…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
Connected and Automated Vehicles (CAVs) offer significant potential for improving energy efficiency and lowering vehicle emissions through eco-driving technologies. Control algorithms in CAVs leverage look-ahead route information and…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participating in these competitions hope to subsequently transfer their…
This paper presents a method based on precise modeling of traffic flow using a fuzzy-real algorithm for optimal control of a signalized intersection. By improving social indicators such as security, well-fare and economy, intercity…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
The advent of intelligent vehicles that can communicate with infrastructure as well as automate the movement provides a range of new options to address key urban traffic issues such as congestion and pollution, without the need for…