相关论文: Facilitating Cooperative and Distributed Multi-Veh…
The infrastructure-vehicle cooperative autonomous driving approach depends on the cooperation between intelligent roads and intelligent vehicles. This approach is not only safer but also more economical compared to the traditional…
This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
In this paper, we develop a distributed mechanism for spectrum sharing among a network of unmanned aerial vehicles (UAV) and licensed terrestrial networks. This method can provide a practical solution for situations where the UAV network…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Despite the advances in the autonomous driving domain, autonomous vehicles (AVs) are still inefficient and limited in terms of cooperating with each other or coordinating with vehicles operated by humans. A group of autonomous and…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
Driving is a social activity: drivers often indicate their intent to change lanes via motion cues. We consider mixed-autonomy traffic where a Human-driven Vehicle (HV) and an Autonomous Vehicle (AV) drive together. We propose a planning…
Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large…
Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion…
In recent decades, society has witnessed significant advancements in emerging mobility systems. These systems refer to transportation solutions that incorporate digital technologies, automation, connectivity, and sustainability to create…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…