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The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
Connectivity in ground vehicles allows vehicles to share crucial vehicle data, such as vehicle acceleration, with each other. Using sensors such as cameras, radars and lidars, on the other hand, the intravehicular distance between a leader…
This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
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…
Transportation systems have long been shaped by complexity and heterogeneity, driven by the interdependency of agent actions and traffic outcomes. The deployment of automated vehicles (AVs) in such systems introduces a new challenge:…
Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…
The recently developed DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) method has shown promising performance for data-driven predictive control of Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, its simplistic…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to significantly improve safety and transportation efficiency by monitoring network conditions and making better operating decisions. CAVs,…
This paper proposes a continuous-time dynamic active weighted average consensus algorithm in which the agents can alternate between active and passive modes depending on their ability to access to their reference input. The objective is to…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
Research on the sixth generation cellular networks (6G) is gaining huge momentum to achieve ubiquitous wireless connectivity. Connected autonomous driving (CAV) is a critical vertical envisioned for 6G, holding great potentials of improving…