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The rapid expansion of connected and autonomous vehicles (CAVs) and the shift towards millimiter-wave (mmWave) frequencies offer unprecedented opportunities to enhance road safety and traffic efficiency. Sidelink communication, enabling…
The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…
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…
Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
Researches have been devoted to making connected and automated vehicles (CAVs) faster in different traffic scenarios. By using C-V2X or DSRC communication protocol, CAVs can work more effectively. In this paper, we compare these two…
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…
Vehicle-to-infrastructure (V2I) communication is becoming indispensable for successful roll-out of connected and autonomous vehicles (CAVs). While increasing the CAVs' speed improves the average CAV traffic flow, it increases communication…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
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…
Simulation is a crucial step in ensuring accurate, efficient, and realistic Connected and Autonomous Vehicles (CAVs) testing and validation. As the adoption of CAV accelerates, the integration of real-world data into simulation environments…
We study the problem of routing Connected and Automated Vehicles (CAVs) in the presence of mixed traffic (coexistence of regular vehicles and CAVs). In this setting, we assume that all CAVs belong to the same fleet, and can be routed using…
Active Traffic Management strategies are often adopted in real-time to address such sudden flow breakdowns. When queuing is imminent, Speed Harmonization (SH), which adjusts speeds in upstream traffic to mitigate traffic showckwaves…