相关论文: A Convex Optimal Control Framework for Autonomous …
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
We look into minimizing the hydrogen fuel consumption of hydrogen hybrid trains by optimizing their operation. The powertrain considered is a fuel cell charge-sustaining hybrid. Convex optimization is utilized to compute optimal speed and…
Connected and Automated Vehicles (CAVs) offer a promising solution to the challenges of mixed traffic with both CAVs and Human-Driven Vehicles (HDVs). A significant hurdle in such scenarios is traffic oscillation, or the "stop-and-go"…
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…
In this paper, we develop an optimal weight adaptation strategy of model predictive control (MPC) for connected and automated vehicles (CAVs) in mixed traffic. We model the interaction between a CAV and a human-driven vehicle (HDV) as a…
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimization problems within the successive convexification…
Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
Our current transportation system suffers from a number of problems in terms of safety, mobility, and environmental sustainability. The emergence of innovative intelligent transportation systems (ITS) technologies, and in particular…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
Most recent studies on establishing intersection safety focus on the situation where all vehicles are fully autonomous. However, currently most vehicles are human-driven and so we will need to transition through regimes featuring a varying…
This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control policies of HDVs are unknown and hard to predict. In order to…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted sum of two conflicting objectives, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the…
One of the main challenges in managing traffic at multilane intersections is ensuring smooth coordination between human-driven vehicles (HDVs) and connected autonomous vehicles (CAVs). This paper presents a novel traffic signal control…
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)…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In earlier work, we addressed the optimal coordination of CAVs using Hamiltonian analysis. In this…
Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…
Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are…
Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…