相关论文: Robust Lateral Control of a Convoy of Autonomous &…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper proposes a novel method for multi-lane convoy formation control that uses large language models (LLMs) to tackle coordination challenges in dynamic highway environments. Each connected and autonomous vehicle in the convoy uses a…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
Connected and Autonomous Electrified Vehicles (CAEV) is the solution to the future smart mobility having benefits of efficient traffic flow and cleaner environmental impact. Although CAEV has advantages they are still susceptible to…
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…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
The recently developed DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) method has shown promising performance for data-driven predictive control of Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, its simplistic…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
Autonomated vehicles (AVs) are expected to have a profound impact on society, with high expectations for their potential benefits. One key anticipated benefit is the reduction of traffic congestion and stop-and-go waves, which negatively…