Related papers: A Hierarchical Robust Control Strategy for Decentr…
Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
Our current transportation system suffers from a number of problems in terms of safety, mobility, and environmental sustainability. The emergence of innovative intelligent transportation systems (ITS) technologies, and in particular…
The properties of cooperative driving strategies for planning and controlling Connected and Automated Vehicles (CAVs) at intersections range from some that achieve highly efficient coordination performance to others whose implementation is…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
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…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Trajectory planning in urban automated driving is challenging because of the high uncertainty resulting from the unknown future motion of other traffic participants. Robust approaches guarantee safety, but tend to result in overly…
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…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
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…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
Connected and automated vehicles (CAVs) 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…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…