Related papers: Concurrent Optimization of Vehicle Dynamics and Po…
Connected and automated vehicles (CAV) are expected to deliver a much safer, more efficient, and eco-friendlier mobility. Being an indispensable component of the future transportation, their key driving features of CAVs include not only the…
The erratic nature of human driving tends to trigger undesired waves that amplify as successive driver reactions propagate from the errant vehicle to vehicles upstream. Known as phantom jams, this phenomenon has been identified in the…
Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
This paper presents a modeling framework to optimize the two-dimensional placement of powertrain elements inside the vehicle, explicitly accounting for the rotation, relative placement and alignment. Specifically, we first capture the…
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…
The article provides an overview of the latest developments on control approaches for connected and automated vehicles along with their effectiveness on energy and transportation efficiency.
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Routing strategies under the aegis of dynamic traffic assignment have been proposed in the literature to optimize system performance. However, challenges have persisted in their deployment ability and effectiveness due to inherent strong…
Wireless communication is a basis of the vision of connected and automated vehicles (CAVs). Given the heterogeneity of both wireless communication technologies and CAV applications, one question that is critical to technology road-mapping…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
This article explores the optimization of plant characteristics and controller parameters for electrified mobility. Electrification of mobile transportation systems, such as automobiles and aircraft, presents the ability to improve key…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…
Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion…
Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
Auto manufacturers and research groups are working on autonomous driving for long period and achieved significant progress. Autonomous vehicles (AV) are expected to transform road traffic reduction from current conditions, avoiding…
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…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…