Related papers: Energy-efficient Reactive and Predictive Connected…
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…
The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…
In this paper, we investigate the coordination of vehicle maneuvers in mixed-traffic corridors where connected and automated vehicles, human-driven vehicles, and buses interact under dedicated bus lane operations. We develop a segment-based…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
Developing safe automated vehicles that can be proactive, safe, and comfortable in mixed traffic requires improved planning methods that are risk-averse and that account for predictions of the motion of other road users. To consider these…
Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
This paper presents a personalized adaptive cruise control (PACC) design that can learn driver behavior and adaptively control the semi-autonomous vehicle (SAV) in the car-following scenario, and investigates its impacts on mixed traffic.…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
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…
Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and…
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…
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…
This paper presents an online-capable controller for the energy management system of a parallel hybrid electric vehicle based on model predictive control. Its task is to minimize the vehicle's fuel consumption along a predicted driving…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…
Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…