相关论文: Probe-and-Release Coordination of Platoons at High…
The collective behavior of human-driven vehicles (HVs) produces the well-known stop-and-go waves potentially leading to higher fuel consumption and emissions. This paper investigates the stabilization of traffic flow via a minimum number of…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
Several approaches have been proposed in the literature that allow connected and automated vehicles (CAVs) to coordinate in areas where there is a potential conflict, for example, in intersections, merging at roadways and roundabouts. In…
Connected and Autonomous Vehicles (CAVs) technology facilitates the advancement of intelligent transportation. However, intelligent control techniques for mixed traffic flow at signalized intersections involving both CAVs and Human-Driven…
We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…
In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…
The balanced vehicular traffic model is a macroscopic model for vehicular traffic flow. We use this model to study the traffic dynamics at highway bottlenecks either caused by the restriction of the number of lanes or by on-ramps or…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
This study investigates the efficiency and safety outcomes of implementing different adaptive coordination models for automated vehicle (AV) fleets, managed by a centralized coordinator that dynamically responds to human-controlled vehicle…
A platoon refers to a group of vehicles traveling together in very close proximity using automated driving technology. Owing to its immense capacity to improve fuel efficiency, driving safety, and driver comfort, platooning technology has…
On-ramp merging areas are typical bottlenecks in the freeway network, since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficiency and safety. The…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
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…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
We study the strategic interaction among vehicles in a non-cooperative platoon coordination game. Vehicles have predefined routes in a transportation network with a set of hubs where vehicles can wait for other vehicles to form platoons.…