相关论文: Periodic and Event-Triggering for Joint Capacity M…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
Urban intersections with diverse vehicle types, from small cars to large semi-trailers, pose significant challenges for traffic control. This study explores how robot vehicles (RVs) can enhance heterogeneous traffic flow, particularly at…
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework…
We consider the security-by-design of a signal-free intersection for connected and autonomous vehicles in the face of strategic jamming attacks. We use a fluid model to characterize macroscopic traffic flow through the intersection, where…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
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…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance.…
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
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…
Automated driving is now possible in diverse road and traffic conditions. However, there are still situations that automated vehicles cannot handle safely and efficiently. In this case, a Transition of Control (ToC) is necessary so that the…
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…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
Vehicle-to-infrastructure (V2I) communication is becoming indispensable for successful roll-out of connected and autonomous vehicles (CAVs). While increasing the CAVs' speed improves the average CAV traffic flow, it increases communication…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
The increasing wireless communication capabilities of vehicles creates opportunities for more efficient intersection management strategies. One promising approach is the replacement of traffic lights with a system wherein vehicles run…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of controllable autonomous vehicles (AVs)…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…