Related papers: Cooperative Adaptive Cruise Control Design and Imp…
This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…
Adaptive andcooperative adaptive cruise control (ACC and CACC) and next generation CACC (CACC+) systems usually employ a constant time headway policy (CTHP) for platooning of connected and autonomous vehicles (CAVs). In ACC, the ego vehicle…
We present here a first prototype of a "Speed Limit Support" Advance Driving Assistance System (ADAS) producing permanent reliable information on the current speed limit applicable to the vehicle. Such a module can be used either for…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…
Evidence in the literature shows that automated and human driving modes demonstrate different driving characteristics, i.e., headway policy, spacing policy, reaction time, comfortable acceleration, and others. These differences alter…
Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in robot navigation tasks, existing CP-based methods often…
Connected and autonomous vehicles (CAVs) have garnered significant attention due to their extended perception range and enhanced sensing coverage. To address challenges such as blind spots and obstructions, CAVs employ vehicle-to-vehicle…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
As Intelligent Transportation System (ITS) develops, Connected and Automated Vehicles (CAVs) are expected to significantly reduce traffic congestion through cooperative strategies, such as in bottleneck areas. However, the uncertainty and…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…
This article introduces the hardware-software co-design of the control system for an autonomy-enabled formula-style high-speed racecar that will be utilized as the deployment platform for high-level autonomy in the first ever head-to-head…
We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with…
Vehicle-infrastructure communication opens up new ways to improve traffic flow efficiency at signalized intersections. In this study, we assume that equipped vehicles can obtain information about switching times of relevant traffic lights…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…