相关论文: Real-Time Distributed Automation Of Road Intersect…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
The coordination of autonomous vehicles is an open field that is addressed by different researches comprising many different techniques. In this paper we focus on decentralized approaches able to provide adaptability to different…
A typical urban signalized intersection poses significant modeling and control challenges in a mixed traffic environment consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we address the…
In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existing automated intersections lies in detecting and reasoning…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor…
To investigate the impact of Autonomous Vehicles (AVs) on urban congestion, this study looks at their performance at road intersections. Intersection performance has been studied across a range of traffic densities using a simple MATLAB…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…
Vehicular networks will play an important role in enhancing road safety, improving transportation efficiency, and providing seamless Internet service for users on the road. Reaping the benefit of vehicular networks is contingent upon…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
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…
Autonomous vehicles (AV) is an advanced technology that can bring convenience, improve the road-network throughput, and reduce traffic accidents. To enable higher levels of automation (LoA), massive amounts of sensory data need to be…
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…
Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…