Related papers: Platoon Formation in a Mixed Traffic Environment: …
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
Active Traffic Management strategies are often adopted in real-time to address such sudden flow breakdowns. When queuing is imminent, Speed Harmonization (SH), which adjusts speeds in upstream traffic to mitigate traffic showckwaves…
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…
A cellular automaton model of traffic flow taking into account velocity anticipation is introduced. The strength of anticipation can be varied which allows to describe different driving schemes. We find phase separation into a free-flow…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
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…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
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…
This paper addresses the challenge of generating optimal vehicle flow at the macroscopic level. Although several studies have focused on optimizing vehicle flow, little attention has been given to ensuring it can be practically achieved. To…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
Connectivity and automation in vehicles provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents…
Connected and automated vehicles (CAVs) are expected to reshape traffic flow dynamics and present new challenges and opportunities for traffic flow modeling. While numerous studies have proposed optimal modeling and control strategies for…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
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…