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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 (AVs) can improve efficiency, reduce costs, and enhance road safety. They optimize traffic flow, minimize congestion, and support sustainability through shared mobility and reduced fuel consumption. A key challenge in AV…
The acquisition and analysis of high-quality sensor data constitute an essential requirement in shaping the development of fully autonomous driving systems. This process is indispensable for enhancing road safety and ensuring the…
The increasing demand for latency-sensitive applications has necessitated the development of sophisticated algorithms that efficiently manage packets with end-to-end delay targets traversing the networked infrastructure. Network components…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loop simulation, and limited proving ground work followed by public road deployment of beta…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
Autonomous vehicles (AVs) are evolving into mobile computing platforms, equipped with powerful processors and diverse sensors that generate massive heterogeneous data, for example 14 TB per day. Supporting emerging third-party applications…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Autonomous vehicles (AVs) are poised to revolutionize global transportation systems. However, its widespread acceptance and market penetration remain significantly below expectations. This gap is primarily driven by persistent challenges in…
In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…
Safety is one of the main challenges that prohibit autonomous vehicles (AV), requiring them to be well tested ahead of being allowed on the road. In comparison with road tests, simulators allow us to validate the AV conveniently and…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
The increasing integration of automation in vehicles aims to enhance both safety and comfort, but it also introduces new risks, including driver disengagement, reduced situation awareness, and mode confusion. In this work, we propose the…
Connected and Automated Vehicles (CAVs) are highly expected to improve traffic throughput and safety at road intersections, single-track lanes, and construction zones. However, multiple CAVs can block each other and create a mutual deadlock…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
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…
This paper applies a classical physics-based model to control platooning AVs in a commercial traffic simulation software. In Spring-Mass-Damper model, each vehicle is assumed as a mass coupled with its preceding vehicle with a spring and a…
Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…