Related papers: Cooperative Bidirectional Mixed-Traffic Overtaking
In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…
The advancements in autonomous driving technology, coupled with the growing interest from automotive manufacturers and tech companies, suggest a rising adoption of Connected Autonomous Vehicles (CAVs) in the near future. Despite some…
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,…
In recent decades, society has witnessed significant advancements in emerging mobility systems. These systems refer to transportation solutions that incorporate digital technologies, automation, connectivity, and sustainability to create…
Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
Emerging transportation technologies offer unprecedented opportunities to improve the efficiency of the transportation system from the perspectives of energy consumption, congestion, and emissions. One of these technologies is connected and…
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…
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…
Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…
Connected Autonomous Vehicles (CAVs) benefit from Vehicle-to-Everything (V2X) communication, which enables the exchange of sensor data to achieve Collaborative Perception (CP). To reduce cumulative errors in perception modules and mitigate…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
Earlier work has established a decentralized framework of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling. The proposed solution is capable of minimizing…
Connected and automated vehicles (CAVs) are expected to reshape traffic flow dynamics and present new challenges and opportunities for traffic flow modeling. While numerous studies have proposed optimal modeling and control strategies for…
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…
Collaborative perception, an emerging paradigm in autonomous driving, has been introduced to mitigate the limitations of single-vehicle systems, such as limited sensor range and occlusion. To improve the robustness of inter-vehicle data…
Pedestrian occlusion is challenging for autonomous vehicles (AVs) at midblock locations on multilane roadways because an AV cannot detect crossing pedestrians that are fully occluded by downstream vehicles in adjacent lanes. This paper…
While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…