Related papers: Characterizing Lane-Changing Behavior in Mixed Tra…
Being one of the most promising applications enabled by connected and automated vehicles (CAV) technology, Cooperative Adaptive Cruise Control (CACC) is expected to be deployed in the near term on public roads.} Thus far, the majority of…
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits, including releasing drivers from exhausting driving and mitigating traffic congestion, among others. Despite…
Driving is a social activity: drivers often indicate their intent to change lanes via motion cues. We consider mixed-autonomy traffic where a Human-driven Vehicle (HV) and an Autonomous Vehicle (AV) drive together. We propose a planning…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social…
This paper proposes an adaptive behavioral decision-making method for autonomous vehicles (AVs) focusing on complex merging scenarios. Leveraging principles from non-cooperative game theory, we develop a vehicle interaction behavior model…
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…
In this paper we consider the application of Stackelberg game theory to model discretionary lane-changing in lightly congested highway setting. The fundamental intent of this model, which is parameterized to capture driver disposition…
Transportation systems have long been shaped by complexity and heterogeneity, driven by the interdependency of agent actions and traffic outcomes. The deployment of automated vehicles (AVs) in such systems introduces a new challenge:…
To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…
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…
Lane-change maneuvers are a leading cause of highway accidents, underscoring the need for accurate intention prediction to improve the safety and decision-making of autonomous driving systems. While prior studies using machine learning and…
The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…
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…
Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
Connected autonomous vehicles (CAV) technologies are about to be in the market in the near future. This requires transportation facilities ready to operate in a mixed traffic environment where a portion of vehicles are CAVs and the…
Driving behavior is considered a unique driving habit of each driver and has a significant impact on road safety. Classifying driving behavior and introducing policies based on the results can reduce the severity of crashes on the road.…