Related papers: Safe Optimal Interactions Between Automated and Hu…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
Automated Vehicles (AVs) hold promise for revolutionizing transportation by improving road safety, traffic efficiency, and overall mobility. Despite the steady advancement in high-level AVs in recent years, the transition to full automation…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
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,…
Motivated by the rapid development of autonomous vehicle technology, this work focuses on the challenges of introducing them in ride-hailing platforms with conventional strategic human drivers. We consider a ride-hailing platform that…
Ramp metering, a traditional traffic control strategy for conventional vehicles, has been widely deployed around the world since the 1960s. On the other hand, the last decade has witnessed significant advances in connected and automated…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
The connectivity aspect of connected autonomous vehicles (CAV) is beneficial because it facilitates dissemination of traffic-related information to vehicles through Vehicle-to-External (V2X) communication. Onboard sensing equipment…
Social scientists have argued that autonomous vehicles (AVs) need to act as effective social agents; they have to respond implicitly to other drivers' behaviors as human drivers would. In this paper, we investigate how contingent driving…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
It is well known that stop-and-go waves can be generated spontaneously in traffic even without bottlenecks. Can such undesirable traffic patterns, induced by intrinsic human driving behaviors, be tamed effectively and inexpensively? Taking…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
One challenging aspect of the Connected and Automated Vehicle (CAV) operation in mixed traffic is the development of a situation-awareness module for CAVs. While operating on public roads, CAVs need to assess their surroundings, especially…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…