Related papers: Time-Optimal Coordination for Connected and Automa…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
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…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
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…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
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.…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
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…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…
In this paper, we propose a re-routing strategy for connected and automated vehicles (CAVs), considering coordination and control of all the CAVs in the network. The objective for each CAV is to find the route that minimizes the total…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…