Related papers: A Bi-Level Cooperative Driving Strategy Allowing L…
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
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…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
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…
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…
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 time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
Connected autonomous vehicles (CAV) technologies are about to be in the market in the near future. This requires transportation facilities ready to operate in a mixed traffic environment where a portion of vehicles are CAVs and the…
To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…
Several approaches have been proposed in the literature that allow connected and automated vehicles (CAVs) to coordinate in areas where there is a potential conflict, for example, in intersections, merging at roadways and roundabouts. In…
Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…
Autonomous driving systems present promising methods for congestion mitigation in mixed autonomy traffic control settings. In particular, when coupled with even modest traffic state estimates, such systems can plan and coordinate 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…
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,…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
Navigating unsignalized roundabouts in mixed-autonomy traffic presents significant challenges due to dense vehicle interactions, lane-changing complexities, and behavioral uncertainties of human-driven vehicles (HDVs). This paper proposes a…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…