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An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
As the automotive industry is developing autonomous driving systems and vehicular networks, attention to truck platooning has increased as a way to reduce costs (fuel consumption) and improve efficiency in the highway. Recent research in…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…
High-speed signal-free intersections are a novel urban traffic operations enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we…
This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that…
Based on fluid-dynamic and many-particle (car-following) simulations of traffic flows in (urban) networks, we study the problem of coordinating incompatible traffic flows at intersections. Inspired by the observation of self-organized…
Ill-managed intersections are the primary reasons behind the increasing traffic problem in urban areas, leading to nonoptimal traffic-flow and unnecessary deadlocks. In this paper, we propose an automated intersection management system that…
This paper considers the problem of scheduling autonomous vehicles in intersections. A new system is proposed that could be an additional choice to the recently introduced Autonomous Intersection Management (AIM) model. The proposed system…
In this paper, we propose an optimization framework for cooperative merging of platoons of connected and automated vehicles at highway on-ramps. The framework includes (1) an optimal scheduling algorithm, through which, each platoon derives…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world transportation system includes a vast number of trucks…
Platooning of connected and autonomous vehicles (CAVs) has a significant potential for throughput improvement. However, the interaction between CAVs and non-CAVs may limit the practically attainable improvement due to platooning. To better…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…