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In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…
Autonomous driving decision-making at unsignalized intersections is highly challenging due to complex dynamic interactions and high conflict risks. To achieve proactive safety control, this paper proposes a deep reinforcement learning (DRL)…
Uncontrolled intersections account for a significant fraction of roadway crashes due to ambiguous right-of-way rules, occlusions, and unpredictable driver behavior. While autonomous vehicle research has explored uncertainty-aware decision…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…
This paper aims to provide a new perspective on the interplay between decentralization -- a prevalent character of multi-agent systems -- and centralization, i.e., the task of imposing central control to meet system-level goals. In…
Autonomous vehicles must negotiate with pedestrians in ways that are both safe and socially compliant. We present an interaction-aware model predictive decision-making (IAMPDM) framework that integrates a gap-acceptance-inspired intention…
Detecting emergency vehicles arrival on roads has been the focus for many researchers. It is quite important to detect the emergency vehicles (e.g; ambulance) arrival to traffic light to give the green light for it to pass through. Many…
For a group of autonomous communicating agents, the ability to distinguish a meaningful input from disturbance, and come to collective agreement or disagreement in response to that input, is paramount for carrying out coordinated…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…