相关论文: Experimental Validation of Multi-lane Formation Co…

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…

In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…

Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…

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…

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…

Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…

The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…

This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…

Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…

Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…

We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in…

Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…

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…

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…

In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…

The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…

This work gives introduction to traffic control by connected automated vehicles. The influence of vehicle control on vehicular traffic and traffic control strategies are discussed and compared. It is highlighted that vehicle-to-everything…

In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…