相关论文: Enabling Mixed Autonomy Traffic Control

Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of…

Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…

Cooperation is a ubiquitous phenomenon in many natural, social, and engineered systems with multiple agents. Understanding the formation of cooperation in mixed traffic is of theoretical interest in its own right, and could also benefit the…

We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…

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…

In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…

This paper experimentally demonstrates the effectiveness of an anticipative car-following algorithm in reducing energy use of gasoline engine and electric Connected and Automated Vehicles (CAV), without sacrificing safety and traffic flow.…

The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…

Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback…

In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…

Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…

This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control policies of HDVs are unknown and hard to predict. In order to…

Traffic congestion is a persistent problem in our society. Previous methods for traffic control have proven futile in alleviating current congestion levels leading researchers to explore ideas with robot vehicles given the increased…

Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…

Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…

Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…

Connected Automated Vehicles (CAVs) offer unparalleled opportunities to revolutionize existing transportation systems. In the near future, CAVs and human-driven vehicles (HDVs) are expected to coexist, forming a mixed traffic system.…

We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…

This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting…