Related papers: Centralized Coordination of Connected Vehicles at …
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
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)…
Due to the intricate of real-world road topologies and the inherent complexity of autonomous vehicles, cooperative decision-making for multiple connected autonomous vehicles (CAVs) remains a significant challenge. Currently, most methods…
We present in this paper a new algorithm for urban traffic light control with mixed traffic (communicating and non communicating vehicles) and mixed infrastructure (equipped and unequipped junctions). We call equipped junction here 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…
The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…
Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Connected Automated Vehicles (CAVs) offer unparalleled opportunities to revolutionize existing transportation systems. In the near future, CAVs and human-driven vehicles (HDVs) are expected to coexist, forming a mixed traffic system.…
Ill-managed intersections are the primary reasons behind the increasing traffic problem in urban areas, leading to nonoptimal traffic-flow and unnecessary deadlocks. In this paper, we propose an automated intersection management system that…
This paper presents the design of a supervisory algorithm that monitors safety at road intersections and overrides drivers with a safe input when necessary. The design of the supervisor consists of two parts: safety verification and control…
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.…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
We propose a stochastic model for the intersection of two urban streets. The vehicular traffic at the intersection is controlled by a set of traffic lights which can be operated subject to fix-time as well as traffic adaptive schemes.…
In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existing automated intersections lies in detecting and reasoning…