相关论文: Optimal Control for Speed Harmonization of Automat…
This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…
Autonomous driving has garnered significant attention in recent years, especially in optimizing vehicle performance under varying conditions. This paper addresses the challenge of maintaining maximum speed stability in low-speed autonomous…
This paper presents the optimal-control suggestion for congestion on freeways using data assimilation (DA) of distributed fiber-optic sensing (DFOS). To simultaneously maximize throughput and avoid/mitigate congestion, it is necessary to…
Variable Speed Limit (VSL) control has been one of the most popular techniques with the potential of smoothing traffic flow, maximizing throughput at bottlenecks, and improving mobility and safety. Despite the substantial research efforts…
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
Urban traffic congestion, particularly at intersections, significantly affects travel time, fuel consumption, and emissions. Traditional fixed-time signal control systems often lack the adaptability to effectively manage dynamic traffic…
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…
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…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
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…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
Free-flow road networks, such as suburban highways, are increasingly experiencing traffic congestion due to growing commuter inflow and limited infrastructure. Traditional control mechanisms, such as traffic signals or local heuristics, are…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
We study the ability of autonomous vehicles to improve the throughput of a bottleneck using a fully decentralized control scheme in a mixed autonomy setting. We consider the problem of improving the throughput of a scaled model of the San…
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…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…