Related papers: A Constrained Optimal Control Framework for Vehicl…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
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…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
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…
In the future, High Occupancy Vehicle (HOV) lanes or other dedicated lanes might be restricted to autonomous vehicles, e.g. wirelessly connected vehicles with longitudinal motion control. These vehicles would likely travel at high speeds in…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
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…
We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
Connected autonomous vehicles (CAVs) can supplement the information from their own sensors with information from surrounding CAVs for decision making and control. This has the potential to improve traffic efficiency. CAVs face additional…
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…
In this study, we explore an innovative approach to enhance cooperative driving in vehicle platooning systems through the use of vehicle-to-everything (V2X) communication technologies. As Connected and Autonomous Vehicles (CAVs) integrate…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…