相关论文: Connected Autonomous Vehicle Motion Planning with …
To improve the safety and efficiency of the intelligent transportation system, particularly in complex urban scenarios, in this paper a game theoretic decision-making framework is designed for connected automated vehicles (CAVs) at…
Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
Routing controllability of connected and autonomous vehicles (CAVs) has been shown to reduce the adverse effects of selfish routing on the network efficiency. However, the assumption that CAV owners would readily allow themselves to be…
Autonomous Vehicles (AVs) rely on individual perception systems to navigate safely. However, these systems face significant challenges in adverse weather conditions, complex road geometries, and dense traffic scenarios. Cooperative…
One challenging aspect of the Connected and Automated Vehicle (CAV) operation in mixed traffic is the development of a situation-awareness module for CAVs. While operating on public roads, CAVs need to assess their surroundings, especially…
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…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…
Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
Connectivity and automation in vehicles provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
Anomaly detection in connected autonomous vehicles (CAVs) is crucial for maintaining safe and reliable transportation networks, as CAVs can be susceptible to sensor malfunctions, cyber-attacks, and unexpected environmental disruptions. This…
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our…
Urban environments manifest a high level of complexity, and therefore it is of vital importance for safety systems embedded within autonomous vehicles (AVs) to be able to accurately predict the short-term future motion of nearby agents.…
Urban driving with connected and automated vehicles (CAVs) offers potential for energy savings, yet most eco-driving strategies focus solely on longitudinal speed control within a single lane. This neglects the significant impact of lateral…
In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…
In future mixed traffic Highly Automated Vehicles (HAV) will have to resolve interactions with human operated traffic. A particular problem for HAVs is detection of human states influencing safety critical decisions and driving behavior of…