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The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent safety guarantees, as well as satisfying velocity and acceleration constraints. We first design a systematic approach to dynamically determine the safety constraints and derive the unconstrained optimal control solution. A joint optimal control and barrier function (OCBF) method is then applied to efficiently obtain a controller that optimally track the unconstrained optimal solution while guaranteeing all the constraints. Simulation experiments are performed to compare the optimal controller to a baseline of human-driven vehicles showing effectiveness under symmetric and asymmetric roundabout configurations, balanced and imbalanced traffic rates and different sequencing rules for CAVs.
Connected and Automated Vehicles (CAVs), particularly those with a hybrid electric powertrain, have the potential to significantly improve vehicle energy savings in real-world driving conditions. In particular, the Eco-Driving problem seeks to design
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and capacity of ou
Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious vehicle may se
This paper deals with the lateral control of a convoy of autonomous and connected following vehicles (ACVs) for executing an Emergency Lane Change (ELC) maneuver. Typically, an ELC maneuver is triggered by emergency cues from the front or the end of
The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular communication