相关论文: Fully Distributed Optimization based CAV Platoonin…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
In this paper we deal with distributed optimal control for nonlinear dynamical systems over graph, that is large-scale systems in which the dynamics of each subsystem depends on neighboring states only. Starting from a previous work in…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
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…
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…
Platooning is a promising cooperative driving application for future intelligent transportation systems. In order to assign vehicles to platoons, some algorithm for platoon formation is required. Such vehicle-to-platoon assignments have to…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
Motivated by the fact that intelligent traffic control systems have become inevitable demand to cope with the risk of traffic congestion in urban areas, this paper develops a distributed control strategy for urban traffic networks. Since…
The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…
This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
This paper introduces a centralized approach for fuel-efficient urban platooning by leveraging real-time Vehicle- to-Everything (V2X) communication and Signal Phase and Timing (SPaT) data. A nonlinear Model Predictive Control (MPC)…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
In this paper, a novel distributed optimization framework has been proposed. The key idea is to convert optimization problems into optimal control problems where the objective of each agent is to design the current control input minimizing…