Related papers: Decentralised Cooperative Collision Avoidance with…
With the fast development of driving automation technologies, user psychological acceptance of driving automation has become one of the major obstacles to the adoption of the driving automation technology. The most basic function of a…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…
In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…
In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion planning scheme under reasonable vehicle-to-vehicle…
Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
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…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…