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Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
In a mixed traffic with connected automated vehicles (CAVs) and human-driven vehicles (HDVs) coexisting, data-driven predictive control of CAVs promises system-wide traffic performance improvements. Yet, most existing approaches focus on a…
This paper proposes a novel perimeter-free regional traffic management strategy for networks under a connected and autonomous vehicle (CAV) environment. The proposed strategy requires a subset of CAVs to temporarily wait at nearby parking…
This paper describes a decentralized control strategy for the automation of road intersections and studies its impact on traffic in a realistic urban road network. The controller incorporates a consensus-based auction algorithm (CBAA-M),…
In future mixed traffic Highly Automated Vehicles (HAV) will have to resolve interactions with human operated traffic. A particular problem for HAVs is detection of human states influencing safety critical decisions and driving behavior of…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to significantly improve safety and transportation efficiency by monitoring network conditions and making better operating decisions. CAVs,…
Reliable estimation of network-wide traffic states is essential for urban traffic management. Unmanned Aerial Vehicles (UAVs), with their airborne full-sample continuous trajectory observation, bring new opportunities for traffic state…
Vehicle automation technology has made significant progress, laying the groundwork for a future of fully automated vehicles. This paper delves into the operation of connected and automated vehicles (CAVs). In prior work, we developed a…
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…
Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This…
In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
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…
The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
Vehicle-to-infrastructure (V2I) communication is becoming indispensable for successful roll-out of connected and autonomous vehicles (CAVs). While increasing the CAVs' speed improves the average CAV traffic flow, it increases communication…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to significantly improve traffic flow efficiency in complex urban road networks. However, in situations where vehicle volumes increase to the point…
Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…
Suppose in a stable urban traffic system populated only by human driven vehicles (HDVs), a given proportion (e.g. 10%) is replaced by a fleet of Connected and Autonomous Vehicles (CAVs), which share information and pursue a collective goal.…