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Controlling and coordinating urban traffic flow through robot vehicles is emerging as a novel transportation paradigm for the future. While this approach garners growing attention from researchers and practitioners, effectively managing and…
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…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
This report examines the effect of mixed traffic, specifically the variation in robot vehicle (RV) penetration rates, on the fundamental diagrams at unsignalized intersections. Through a series of simulations across four distinct…
Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
One of the main challenges in managing traffic at multilane intersections is ensuring smooth coordination between human-driven vehicles (HDVs) and connected autonomous vehicles (CAVs). This paper presents a novel traffic signal control…
We consider the Follow-The-Leader approximation of the Aw-Rascle-Zhang (ARZ) model for traffic flow in a multi-population formulation. We prove rigorous convergence to weak solutions of the ARZ system in the many particle limit in presence…
This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting…
Traffic breakdown, as one of the most puzzling traffic flow phenomena, is characterized by sharply decreasing speed, abruptly increasing density and in particular suddenly plummeting capacity. In order to clarify its root mechanisms and…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
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…
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.…
This paper reports an experimental study on oscillation growth in mixed traffic flow of automated vehicles (AVs) and human driven vehicles (HVs). The leading vehicle moves with constant speed in the experiment. The following vehicles…
Traffic waves can rise even from single lane car-following behaviour. To better understand and mitigate traffic waves, it is necessary to use analytical tools like mathematical models, data analysis, and micro-simulations that can capture…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
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…
Signalized intersections in arterial roads result in persistent vehicle idling and excess accelerations, contributing to fuel consumption and CO2 emissions. There has thus been a line of work studying eco-driving control strategies to…
This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the…