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This paper experimentally demonstrates the effectiveness of an anticipative car-following algorithm in reducing energy use of gasoline engine and electric Connected and Automated Vehicles (CAV), without sacrificing safety and traffic flow.…
The fast urbanization and climate change challenges require solutions that enable the efficient movement of people and goods in cities. We envision future cities to be composed of high-performing walkable districts where transportation…
Autonomous vehicles should be able to predict the future states of its environment and respond appropriately. Specifically, predicting the behavior of surrounding human drivers is vital for such platforms to share the same road with humans.…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
To enhance the ability for vehicle platoons to respond to emergency scenarios, a platoon distribution reorganization decision-making framework is proposed. This framework contains platoon distribution layer, vehicle cooperative…
In this paper, we characterize the effects of turning and merging maneuvers of connected and/or automated vehicles (CAVs or AVs) on network traffic instability using the macroscopic or network fundamental diagram (MFD or NFD). We revisit…
Freeway on-ramps are typical bottlenecks in the freeway network due to the frequent disturbances caused by their associated merging, weaving, and lane-changing behaviors. With real-time communication and precise motion control, Connected…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…
This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to…
This paper deals with the modeling and mathematical analysis of vehicular traffic phenomena according to a kinetic theory approach, where the microscopic state of vehicles is described by: (i) position, (ii) velocity, as a continuous…
Vehicular platooning is a well-known transportation technique that helps reduce fuel consumption, carbon emissions, and road congestion. When integrated with Connected and Autonomous Vehicle (CAV) technologies, platooning enhances the…
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
Modular autonomous vehicles (MAVs) represent a groundbreaking concept that integrates modularity into the ongoing development of autonomous vehicles. This innovative design introduces unique features to traffic flow, allowing multiple…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…
This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the…
The steady increase in the number of vehicles operating on the highways continues to exacerbate congestion, accidents, energy consumption, and greenhouse gas emissions. Emerging mobility systems, e.g., connected and automated vehicles…