Related papers: Simulation Comparisons of Vehicle-based and Phase-…
Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations…
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…
Earlier work has established a decentralized framework to optimally control Connected Automated Vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling while following a strict First-In-First-Out (FIFO)…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
As vehicle population has been increasing on a daily basis, this leads towards increased number of accidents. To overcome this issue, Vehicular Ad Hoc Network (VANET) has come up with lot of novel ideas such as vehicular communication,…
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…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…
We propose a model for the intersection of two urban streets. The traffic status of the crossroads is controlled by a set of traffic lights which periodically switch to red and green with a total period of T. Two different types of…
In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…
We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival…
We have revealed physical features of autonomous driving in the framework of the three-phase traffic theory for which there is no fixed time headway to the preceding vehicle. A comparison with the classical model approach to autonomous…
Urban traffic congestion, particularly at intersections, significantly affects travel time, fuel consumption, and emissions. Traditional fixed-time signal control systems often lack the adaptability to effectively manage dynamic traffic…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a flow version of the Newton-Raphson method for controlling a…
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…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
Emerging vehicle automation and communication systems (VACS) may contribute to the improvement of vehicle travel time and the mitigation of motorway traffic congestion on the basis of appropriate control strategies. This work considers the…
Prior research has extensively explored Autonomous Vehicle (AV) navigation in the presence of other vehicles, however, navigation among pedestrians, who are the most vulnerable element in urban environments, has been less examined. This…