Related papers: Coordinated Formation Control for Intelligent and …
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
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…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
We present methods to synthesize cooperative strategies for multi-vehicle control problems using mixed integer linear programming. Complex multi-vehicle control problems are expressed as mixed logical dynamical systems. Optimal strategies…
In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
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…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
A typical urban signalized intersection poses significant modeling and control challenges in a mixed traffic environment consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we address the…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
The advent of intelligent vehicles that can communicate with infrastructure as well as automate the movement provides a range of new options to address key urban traffic issues such as congestion and pollution, without the need for…
Large steps are being taken by the industry and R&D organizations in automated driving technology development, as well as in setting up appropriate scenario-based safety assessment methods. In this paper a concept framework is proposed for…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…