Related papers: Towards Safe Autonomous Intersection Management: T…
Modern AI technologies enable autonomous vehicles to perceive complex scenes, predict human behavior, and make real-time driving decisions. However, these data-driven components often operate as black boxes, lacking interpretability and…
The emerging vehicular connected applications, such as cooperative automated driving and intersection collision warning, show great potentials to improve the driving safety, where vehicles can share the data collected by a variety of…
Existing research on AI-based traffic management systems, utilizing techniques such as fuzzy logic, reinforcement learning, deep neural networks, and evolutionary algorithms, demonstrates the potential of AI to transform the traffic…
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
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…
Several approaches have been proposed in the literature that allow connected and automated vehicles (CAVs) to coordinate in areas where there is a potential conflict, for example, in intersections, merging at roadways and roundabouts. In…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at…
Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However,…
As a large proportion of road accidents occur at intersections, monitoring traffic safety of intersections is important. Existing approaches are designed to investigate accidents in lane-based traffic. However, such approaches are not…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…
Smart and decentralized control systems have recently been proposed to handle the growing traffic congestion in urban cities. Proposed smart traffic light solutions based on Wireless Sensor Network and Vehicular Ad-hoc NETwork are either…
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
Detecting emergency vehicles arrival on roads has been the focus for many researchers. It is quite important to detect the emergency vehicles (e.g; ambulance) arrival to traffic light to give the green light for it to pass through. Many…
We consider the security-by-design of a signal-free intersection for connected and autonomous vehicles in the face of strategic jamming attacks. We use a fluid model to characterize macroscopic traffic flow through the intersection, where…