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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…
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…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
The erratic nature of human driving tends to trigger undesired waves that amplify as successive driver reactions propagate from the errant vehicle to vehicles upstream. Known as phantom jams, this phenomenon has been identified in the…
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…
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
This paper proposes a cooperative strategy of connected and automated vehicles (CAVs) longitudinal control for partially connected and automated traffic environment based on deep reinforcement learning (DRL) algorithm, which enhances the…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
A lane-change maneuver on a congested highway could be severely disruptive or even infeasible without the cooperation of neighboring cars. However, cooperation with other vehicles does not guarantee that the performed maneuver will not have…
The connectivity aspect of connected autonomous vehicles (CAV) is beneficial because it facilitates dissemination of traffic-related information to vehicles through Vehicle-to-External (V2X) communication. Onboard sensing equipment…
Connected and Autonomous Vehicles (CAVs) technology facilitates the advancement of intelligent transportation. However, intelligent control techniques for mixed traffic flow at signalized intersections involving both CAVs and Human-Driven…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to significantly improve safety and transportation efficiency by monitoring network conditions and making better operating decisions. CAVs,…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
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…
Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…
In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…