Related papers: From Road Congestion to Vehicle-Control Enabled Ar…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
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…
This paper studies cooperative adaptive cruise control (CACC) for vehicle platoons with consideration of the unknown nonlinear vehicle dynamics that are normally ignored in the literature. A unified data-driven CACC design is proposed for…
Controlling automated vehicles on large lane-free roundabouts is challenging because of the geometrical complexity and frequent conflicts among entering, rotating, and exiting vehicles. This paper proposes a comprehensive methodology to…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
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…
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…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
Traffic congestion has dire economic and social impacts in modern metropolitan areas. To address this problem, in this paper we introduce a novel type of model-free transactive controllers to manage vehicle traffic in highway networks for…
In this paper, we introduce a new conservation-based approach to model traffic dynamics, and apply the model predictive control (MPC) approach to control the boundary traffic inflow and outflow, so that the traffic congestion is reduced. We…
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…
This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Current state-of-art traffic microsimulation tools cannot accurately estimate safety, efficiency, and mobility benefits of automated driving systems and vehicle connectivity because of not considering physical and powertrain characteristics…
This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…
Cooperative and Adaptive Cruise Control (CACC) is widely focused to enhance driving fuel-efficiency by maintaining a close following gap. The ecology of CACC could be further enhanced by adapting to the rolling terrain. However, current…
In this manuscript a design and implementation of CACC on an autonomous vehicle platform (2017 Ford Fusion) is presented. The developed CACC controls the intervehicle distance between the target vehicle and ego vehicle using a feedforward…
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…
Microscopic traffic models describe how cars interact with their neighbors in an uninterrupted traffic flow and are frequently used for reference in advanced vehicle control design. In this paper, we propose a novel mechanical system…