Related papers: Centralized Model-Predictive Control with Human-Dr…
The speed limit changes frequently throughout the transportation network, due to either safety (e.g., change in geometry) or congestion management (e.g., speed harmonization systems). Any abrupt reduction in the speed limit can create a…
As autonomous vehicles (AVs) become more common on public roads, their interaction with human-driven vehicles (HVs) in mixed traffic is inevitable. This requires new control strategies for AVs to handle the unpredictable nature of HVs. This…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
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…
In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…
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…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
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…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
Sequential and terminal constraint feasibility of the model predictive control (MPC) play important roles in ensuring MPC control continuity. This study thus investigates these two properties theoretically using an MPC model for vehicle…
With the recent advancement in environmental sensing, vehicle control and vehicle-infrastructure cooperation technologies, more and more autonomous driving companies start to put their intelligent cars into road test. But in the near…
This paper develops distributed optimization based, platoon centered CAV car following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV…
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…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival…
With the development of internet of vehicles, platooning strategy has been widely studied as the potential approach to ensure the safety of autonomous driving. Vehicles in the form of platoon adopt 802.11p to exchange messages through…
Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topologies. However, it is beneficial to design both the…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…