Related papers: Safe and Efficient CAV Lane Changing using Decentr…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
Building autonomous vehicles (AVs) is a complex problem, but enabling them to operate in the real world where they will be surrounded by human-driven vehicles (HVs) is extremely challenging. Prior works have shown the possibilities of…
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…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
The management of mixed traffic that consists of robot vehicles (RVs) and human-driven vehicles (HVs) at complex intersections presents a multifaceted challenge. Traditional signal controls often struggle to adapt to dynamic traffic…
Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
With wireless devices increasingly forming a unified smart network for seamless, user-friendly operations, random access (RA) medium access control (MAC) design is considered a key solution for handling unpredictable data traffic from…
Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…
In this paper we consider an interchange lane-swap scenario, a limited stretch of highway with two parallel lanes where most vehicles want to change lanes. We show that a particular decentralized Control Barrier Function based algorithm…
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…
Vehicle collisions remain a major challenge in large-scale mixed traffic systems, especially when human-driven vehicles (HVs) and robotic vehicles (RVs) interact under dynamic and uncertain conditions. Although Multi-Agent Reinforcement…
Reinforcement learning (RL) emerges as a promising data-driven approach for adaptive traffic signal control (ATSC) in complex urban traffic networks, with deep neural networks substantially augmenting its learning capabilities. However,…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…