相关论文: Overtaking-enabled Eco-approach Control at Signali…

We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…

Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…

Data-driven cooperative control of connected and automated vehicles (CAVs) has gained extensive research interest as it can utilize collected data to generate control actions without relying on parametric system models that are generally…

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…

Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…

This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…

Taking advantage of both vehicle-to-everything (V2X) communication and automated driving technology, connected and automated vehicles are quickly becoming one of the transformative solutions to many transportation problems. However, in a…

Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…

This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

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 upgrading and updating of vehicles have accelerated in the past decades. Out of the need for environmental friendliness and intelligence, electric vehicles (EVs) and connected and automated vehicles (CAVs) have become new components of…

We study the ability of autonomous vehicles to improve the throughput of a bottleneck using a fully decentralized control scheme in a mixed autonomy setting. We consider the problem of improving the throughput of a scaled model of the San…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

This article introduces the hardware-software co-design of the control system for an autonomy-enabled formula-style high-speed racecar that will be utilized as the deployment platform for high-level autonomy in the first ever head-to-head…

This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…

We provide theoretical foundations and computational tools for the systematic design of optimization-based control laws with constraints that have different priorities. By introducing the concept of prioritized intersections, we extend and…

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…