Related papers: A Spatial-Domain Coordinated Control Method for CA…
Connected and automated vehicles (CAVs) and human-driven vehicles (HVs) are expected to coexist in the near future. CAV-dedicated lanes and phases have been explored to handle the uncertainty in the driving behavior of HVs in the mixed…
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 this paper, we propose a re-routing strategy for connected and automated vehicles (CAVs), considering coordination and control of all the CAVs in the network. The objective for each CAV is to find the route that minimizes the total…
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…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…
The rapid development of cyber-physical systems is driving a transition toward mixed traffic environments comprising both human-driven and connected and automated vehicles (CAVs). This shift presents a unique opportunity to leverage the…
In transportation networks, intersections pose significant risks of collisions due to conflicting movements of vehicles approaching from different directions. To address this issue, various tools can exert influence on traffic safety both…
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
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…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
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…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
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…
In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…