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Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
Merging at highway on-ramps while interacting with other human-driven vehicles is challenging for autonomous vehicles (AVs). An efficient route to this challenge requires exploring and exploiting knowledge of the interaction process from…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
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) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of controllable autonomous vehicles (AVs)…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
It is recognized that the control of mixed-autonomy platoons comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) can enhance traffic flow. Among existing methods, Multi-Agent Reinforcement Learning (MARL)…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
The rapid growth of traffic-related fatalities and injuries around the world including developed countries has drawn researchers' attention for conducting research on automated highway systems to improve road safety over the past few years.…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…