Related papers: Parasitic actuation delay limits the minimum emplo…
Actuator faults heavily affect the performance and stability of control systems, an issue that is even more critical for systems required to operate autonomously under adverse environmental conditions, such as unmanned vehicles. To this…
Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
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…
Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy…
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…
The crosstalk delay associated with global on-chip interconnects becomes more severe in deep submicron technology, and hence can greatly affect the overall system performance. Based on a delay model proposed by Sotiriadis et al., transition…
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.…
The paper evaluates the influence of the maximum vehicle acceleration and variable proportions of ACC/CACC vehicles on the throughput of an intersection. Two cases are studied: (1) free road downstream of the intersection; and (2) red light…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
Connected Vehicles (CVs) have the potential to significantly increase the safety, mobility, and environmental benefits of transportation applications. In this research, we have developed a real time adaptive traffic signal control algorithm…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
The rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-generation mobility systems. Along these lines, connectivity…
Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under exploration.however, it has been proved that by introducing Connected Automated Vehicles(CAVs) with carefully designed…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…