Related papers: PPO-Based Vehicle Control for Ramp Merging Scheme …
Ramp merging is a critical and challenging task for autonomous vehicles (AVs), particularly in mixed traffic environments with human-driven vehicles (HVs). Existing approaches typically rely on either lane-changing or inter-vehicle gap…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
The rapid growth of traffic-related fatalities and injuries around the world including developed countries has drawn researchers' attention for conducting research on automated highway systems to improve road safety over the past few years.…
To address communication latency issues, the Third Generation Partnership Project (3GPP) has defined Cellular-Vehicle to Everything (C-V2X) technology, which includes Vehicle-to-Vehicle (V2V) communication for direct vehicle-to-vehicle…
Ramp merging is a critical maneuver for road safety and traffic efficiency. Most of the current automated driving systems developed by multiple automobile manufacturers and suppliers are typically limited to restricted access freeways only.…
Autonomous parallel-style on-ramp merging in human controlled traffic continues to be an existing issue for autonomous vehicle control. Existing non-learning based solutions for vehicle control rely on rules and optimization primarily.…
On-ramp merging areas are typical bottlenecks in the freeway network, since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficiency and safety. The…
Internet of vehicles (IoV) has emerged as a key technology to realize real-time vehicular application. For IoV, vehicles adopt cellular vehicle-to-everything (C-V2X) standard to support direct communication among them. C-V2X mode 4 controls…
In this study, we explore an innovative approach to enhance cooperative driving in vehicle platooning systems through the use of vehicle-to-everything (V2X) communication technologies. As Connected and Autonomous Vehicles (CAVs) integrate…
Despite the success of AI-enabled onboard perception, on-ramp merging has been one of the main challenges for autonomous driving. Due to limited sensing range of onboard sensors, a merging vehicle can hardly observe main road conditions and…
On-ramp merging is a challenging task for autonomous vehicles (AVs), especially in mixed traffic where AVs coexist with human-driven vehicles (HDVs). In this paper, we formulate the mixed-traffic highway on-ramp merging problem as a…
We consider the problem of designing an algorithm to allow a car to autonomously merge on to a highway from an on-ramp. Two broad classes of techniques have been proposed to solve motion planning problems in autonomous driving: Model…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…
Freeway on-ramps are typical bottlenecks in the freeway network due to the frequent disturbances caused by their associated merging, weaving, and lane-changing behaviors. With real-time communication and precise motion control, Connected…
This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…
Delayed and partially observable state information poses significant challenges for reinforcement learning (RL)-based control in real-world autonomous driving. In highway on-ramp merging, a roadside unit (RSU) can sense nearby traffic,…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
The use case of C-V2X for road safety requires real-time network connection and information exchanging between vehicles. In order to improve the reliability and safety of the system, intelligent networked vehicles need to move cooperatively…