Related papers: A Universal Cooperative Decision-Making Framework …
Auto manufacturers and research groups are working on autonomous driving for long period and achieved significant progress. Autonomous vehicles (AV) are expected to transform road traffic reduction from current conditions, avoiding…
This paper proposes a unified decision making and local trajectory planning framework based on Time-Varying Artificial Potential Fields (TVAPFs). The TVAPF explicitly models the predicted motion via bounded uncertainty of dynamic obstacles…
Global megatrends, such as urbanization, population growth, and emerging network solutions are accelerating the development of the Connected and Autonomous Vehicles (CAVs) industry. There are many truths, some misconceptions, and even some…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
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…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
With the high frequency of highway accidents,studying how to use connected automated vehicle (CAV) to improve traffic efficiency and safety will become an important issue. In order to investigate how CAV can use the connected information…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
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…
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
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…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…