Related papers: Optimal Driving Under Traffic Signal Uncertainty
This paper proposes a robust optimal eco-driving control strategy considering multiple signalized intersections with uncertain traffic signal timing. A spatial vehicle velocity profile optimization formulation is developed to minimize the…
This paper introduces a robust optimal green light speed advisory system for fixed and actuated traffic signals when a probability distribution is provided. These distributions represent the domain of possible switching times from the…
We consider piecewise-deterministic optimal control problems in which the environment randomly switches among several deterministic modes, and the goal is to optimize the expected cost up to the termination while taking the likelihood of…
This paper focuses on the speed planning problem for connected and automated vehicles (CAVs) communicating to traffic lights. The uncertainty of traffic signal timing for signalized intersections on the road is considered. The eco-driving…
We give a rigorous solution of an optimisation problem of minimizing the expected delay caused by encountering a red traffic light on a road journey. The problem incorporates simple constraints on maximum speed, acceleration and braking…
This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…
We propose a stochastic model for the intersection of two urban streets. The traffic state at the crossroads is controlled by a set of traffic lights, which periodically switch to red and green with a total period of T. Vehicular dynamics…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…
This paper considers theoretical solutions for path planning problems under non-probabilistic uncertainty used in the travel salesman problems under uncertainty. The uncertainty is on the paths between the cities as nodes in a travelling…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a sequence of traffic…
Classical deterministic optimal control problems assume full information about the controlled process. The theory of control for general partially-observable processes is powerful, but the methods are computationally expensive and typically…
We consider optimal transport problems where the cost is optimized over controlled dynamics and the end time is free. Unlike the classical setting, the search for optimal transport plans also requires the identification of optimal "stopping…
We propose a general framework for studying optimal impulse control problem in the presence of uncertainty on the parameters. Given a prior on the distribution of the unknown parameters, we explain how it should evolve according to the…
We study a time-optimal control problem of a two-peakon collision. First, we state the controllability. Next, we find the time-optimal strategy. This is done via the HamiltonJacobi-Bellman equation and the dynamic programming method. We…
Simple physical models based on fluid mechanics have long been used to understand the flow of vehicular traffic on freeways; analytically tractable models of flow on an urban grid, however, have not been as extensively explored. In an ideal…
We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations. The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a…
Reliable automated driving technology is challenged by various sources of uncertainties, in particular, behavioral uncertainties of traffic agents. It is common for traffic agents to have intentions that are unknown to others, leaving an…
This paper introduces an optimization problem (P) and a solution strategy to design variable-speed-limit controls for a highway that is subject to traffic congestion and uncertain vehicle arrival and departure. By employing a finite…