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In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
Cooperative on-ramp merging control for connected automated vehicles (CAVs) has been extensively investigated. However, they did neglect the connected vehicle identification process, which is a must for CAV cooperations. In this paper, we…
The recently developed DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) method has shown promising performance for data-driven predictive control of Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, its simplistic…
This paper has studied the minimum traffic delay at a two-phase intersection, taking into account the dynamical evolution process of queues. The feature of delay function has been studied, which indicates that the minimum traffic delay must…
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…
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…
Speed advisory systems for connected vehicles rely on the estimation of green (or red) light duration at signalized intersections. A particular challenge is to predict the signal phases of semi- and fully-actuated traffic lights. In this…
In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the main aim of reducing the data exchange among CAVs in the…
We consider a novel, analytical queuing model for vehicle coordination at signal-free intersections. Vehicles arrive at an intersection according to Poisson processes, and the crossing times are constants dependent of vehicle types. We use…
Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…
Traffic congestion remains a significant challenge in modern urban networks. Autonomous driving technologies have emerged as a potential solution. Among traffic control methods, reinforcement learning has shown superior performance over…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to monitor transportation network conditions and make better decisions for improving safety and transportation efficiency. In this paper, we…
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…
In recent years, automotive technology has made a steady progress. In particular, Advanced Driver Assistance System (ADAS) has enabled many safety features in commercial vehicles, for instance, pedestrian detection, lane keeping assist,…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In earlier work, we addressed the optimal coordination of CAVs using Hamiltonian analysis. In this…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
We consider the problem of a single Autonomous Vehicle (AV) merging into traffic consisting only of Human Driven Vehicles (HDVs) with the goal of minimizing both the travel time and energy consumption of the entire group of vehicles…