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Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…
Traffic interactions between merging and highway vehicles are a major topic of research, yielding many empirical studies and models of driver behaviour. Most of these studies on merging use naturalistic data. Although this provides insight…
This paper proposes an improved cellular automaton traffic flow model based on the brake light model, which takes into account that the desired time gap of vehicles is remarkably larger than one second. Although the hypothetical steady…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
As the foundation of closed-loop training and evaluation in autonomous driving, traffic simulation still faces two fundamental challenges: covariate shift introduced by open-loop imitation learning and limited capacity to reflect the…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
This paper introduces a general simulation framework that can allow the simulation of crashes and the evaluation of consequences on existing microsimulation packages. A specific family of simple and reproducible conflict indicators is…
With the rapid growth of urban transportation and the continuous progress in autonomous driving, a demand for robust benchmarking autonomous driving algorithms has emerged, calling for accurate modeling of large-scale urban traffic…
Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of…
Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of…
Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…
In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
Simulation plays a crucial role in the rapid development and safe deployment of autonomous vehicles. Realistic traffic agent models are indispensable for bridging the gap between simulation and the real world. Many existing approaches for…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…