Related papers: Efficient and Safe Planner for Automated Driving o…
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…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
This paper introduces a novel control framework for Lagrangian variable speed limits in hybrid traffic flow environments utilizing automated vehicles (AVs). The framework was validated using a fleet of 100 connected automated vehicles as…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
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…
Emerging vehicle automation and communication systems (VACS) may contribute to the improvement of vehicle travel time and the mitigation of motorway traffic congestion on the basis of appropriate control strategies. This work considers the…
In the future, High Occupancy Vehicle (HOV) lanes or other dedicated lanes might be restricted to autonomous vehicles, e.g. wirelessly connected vehicles with longitudinal motion control. These vehicles would likely travel at high speeds in…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
Autonomous vehicles need to plan at the task level to compute a sequence of symbolic actions, such as merging left and turning right, to fulfill people's service requests, where efficiency is the main concern. At the same time, the vehicles…
In this paper, a multi-agent motion planning problem is studied aiming to minimize energy consumption of connected automated vehicles (CAVs) in lane change scenarios. We model this interactive motion planning as a generalized Nash…
The fast development of technology and artificial intelligence has significantly advanced Autonomous Vehicle (AV) research, emphasizing the need for extensive simulation testing. Accurate and adaptable maps are critical in AV development,…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…
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…
Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
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…