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On-ramp merging areas are deemed to be typical bottlenecks for freeway networks due to the intensive disturbances induced by the frequent merging, weaving, and lane-changing behaviors. The Connected and Autonomous Vehicles (CAVs), benefited…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…
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…
In most modern cities, traffic congestion is one of the most salient societal challenges. Past research has shown that inserting a limited number of autonomous vehicles (AVs) within the traffic flow, with driving policies learned…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…
Active Traffic Management strategies are often adopted in real-time to address such sudden flow breakdowns. When queuing is imminent, Speed Harmonization (SH), which adjusts speeds in upstream traffic to mitigate traffic showckwaves…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
Automated Vehicles are an integral part of Intelligent Transportation Systems (ITSs) and are expected to play a crucial role in the future mobility services. This paper investigates two classes of self-driving vehicles: (i) Level 4&5…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Autonomous driving technologies are expected to not only improve mobility and road safety but also bring energy efficiency benefits. In the foreseeable future, autonomous vehicles (AVs) will operate on roads shared with human-driven…
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…
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…
Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…