相关论文: A Cooperative Control Framework for CAV Lane Chang…

Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…

Freeway on-ramps are typical bottlenecks in the freeway network due to the frequent disturbances caused by their associated merging, weaving, and lane-changing behaviors. With real-time communication and precise motion control, Connected…

Compared with traditional vehicle longitudinal spacing control strategies, the combination spacing strategy can integrate the advantages of different spacing control strategies. However, the impact mechanism of different combination spacing…

This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…

Connected and automated vehicles (CAVs) are supposed to share the road with human-driven vehicles (HDVs) in a foreseeable future. Therefore, considering the mixed traffic environment is more pragmatic, as the well-planned operation of CAVs…

Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…

Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…

Connectivity technology has shown great potentials in improving the safety and efficiency of transportation systems by providing information beyond the perception and prediction capabilities of individual vehicles. However, it is expected…

A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…

Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…

Connected autonomous vehicles (CAVs), which represent a significant advancement in autonomous driving technology, have the potential to greatly increase traffic safety and efficiency through cooperative decision-making. However, existing…

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…

We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…

This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…

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…

Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…

A recently proposed paradigm for vehicular traffic in the era of CAV (connected and automated vehicles), called TrafficFluid, involves lane-free vehicle movement. Lane-free traffic implies that incremental road widening (narrowing) leads to…

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…

In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…

We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…