相关论文: Optimization based coordination of autonomous vehi…
This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
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…
This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
The collective behavior of human-driven vehicles (HVs) produces the well-known stop-and-go waves potentially leading to higher fuel consumption and emissions. This paper investigates the stabilization of traffic flow via a minimum number of…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at…
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…
The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by…