相关论文: Optimal Time Trajectory and Coordination for Conne…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
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…
This study aims to develop a real-time intersection optimization (RIO) control algorithm to efficiently serve traffic of Connected and Automated Vehicles (CAVs) and conventional vehicles (CNVs). This paper extends previous work to consider…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have…
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…
We consider the problem of scaling up optimal and safe controllers for Connected and Automated Vehicles (CAVs) from a single Control Zone (CZ) around a traffic conflict area to an entire network. The goal is to jointly minimize travel time…
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
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…
In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…
Time-dependent fixed-time control is a cost-effective control method that is widely employed at signalized intersections in numerous countries. Existing optimization models rely on traditional delay models with specific assumptions…