相关论文: Speed Optimization Algorithm based on Deterministi…

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.…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

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…

Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…

On-ramp merging is a challenging task for autonomous vehicles (AVs), especially in mixed traffic where AVs coexist with human-driven vehicles (HDVs). In this paper, we formulate the mixed-traffic highway on-ramp merging problem as a…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…

A crucial challenge to efficient and robust motion planning for autonomous vehicles is understanding the intentions of the surrounding agents. Ignoring the intentions of the other agents in dynamic environments can lead to risky or…

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…

Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…

Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…

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…

This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…

Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…

Planning problems where effects of actions are non-deterministic can be modeled as Markov decision processes. Planning problems are usually goal-directed. This paper proposes several techniques for exploiting the goal-directedness to…

This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

In the last decade, the accelerated advancements in manufacturing techniques and material science enabled the automotive industry to manufacture commercial vehicles at more affordable rates. This, however, brought about roadways having to…

Path planning for autonomous driving with dynamic obstacles poses a challenge because it needs to perform a higher-dimensional search (with time-dimension) while still meeting real-time constraints. This paper proposes an algorithm-hardware…

Ramp merging is a typical application of cooperative intelligent transportation system (C-ITS). Vehicle trajectories perceived by roadside sensors are importation complement to the limited visual field of on-board perception. Vehicle…

An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…