Related papers: Safe Optimal Interactions Between Automated and Hu…
This work gives introduction to traffic control by connected automated vehicles. The influence of vehicle control on vehicular traffic and traffic control strategies are discussed and compared. It is highlighted that vehicle-to-everything…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
Optimizing traffic dynamics in an evolving transportation landscape is crucial, particularly in scenarios where autonomous vehicles (AVs) with varying levels of autonomy coexist with human-driven cars. While optimizing Reinforcement…
This paper analyzes the potential effects of connected and automated vehicles on saturation headway and capacity at signalized intersections. A signalized intersection is created in Vissim as a testbed, where four vehicle types are modeled…
Connected and automated vehicles (CAVs) represent the future of transportation, utilizing detailed traffic information to enhance control and decision-making. Eco-driving of CAVs has the potential to significantly improve energy efficiency,…
This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy is proposed for communicating pairs of connected automated…
Connected and Automated Vehicles (CAVs) are one of the emerging technologies in the automotive domain that has the potential to alleviate the issues of accidents, traffic congestion, and pollutant emissions, leading to a safe, efficient,…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of controllable autonomous vehicles (AVs)…
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…
Managed lanes, such as a dedicated lane for connected and automated vehicles (CAVs), can provide not only technological accommodation but also desired market incentives for road users to adopt CAVs in the near future. In this paper, we…
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…
Ensuring operational control over automated vehicles is not trivial and failing to do so severely endangers the lives of road users. An integrated approach is necessary to ensure that all agents play their part including drivers, occupants,…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
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,…
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…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Information-aware connected and automated vehicles (CAVs) have drawn great attention in recent years due to its potentially significant positive impacts on roadway safety and operational efficiency. In this paper, we conduct an in-depth…