Communication and coordination for urban intelligent transportation: architecture and algorithms

Atagoziev, Maksat
In the scope of Intelligent Transportation Systems (ITS), the automation and coordination of connected and autonomous vehicle (CAV) lane changes (LCs) have a strong impact on driving safety and traffic throughput. Accordingly, this thesis develops algorithms for the coordination of CAV LCs that are then used for controlling the traffic at intersections. First, this thesis focuses on the coordination of LCs of a group of CAVs to minimize the time when all LCs are completed, while keeping small inter-vehicle distances. The thesis first develops an algorithm for minimizing the LC time of a single CAV. This algorithm is then successively applied to compute trajectories for all lane changing CAVs. All computations can be carried out in real time and the CAV trajectories can be implemented using cooperative adaptive cruise control to ensure safe driving in a tight vehicle formation. Simulation experiments and a comparison to a benchmark method demonstrate the superior performance of our method. Then, the thesis concentrates on the coordination of traffic at an intersection based on the developed CAV LC coordination algorithm. The proposed method divides CAVs approaching the intersection into groups that pass the intersection successively. In each group, LCs are coordinated and the trajectories of CAVs are computed such that they travel in a tight formation. Interleaving the groups coming from different directions makes it possible to avoid stopping at the intersection. A detailed simulation study confirms that the proposed approach provides significant performance improvements in terms of average travel and delay times.


Comparison of cooperative adaptive cruise control methods in idealistic and realistic scenarios
Aydın, Ahmed Buğra; Schmidt, Klaus Verner; Department of Electrical and Electronics Engineering (2021-9-10)
Intelligent transportation systems (ITS) aim at improving the efficiency and safety of transportation. In dense traffic, vehicles are aggregated to vehicle strings that travel on the same lane, whereby it is desired to maintain a small but safe distance between the vehicles in order to ensure driving comfort and safety. Cooperative adaptive cruise control (CACC) is a technology that is developed to address this issue. Hereby, the condition of string stability is highly relevant since it ensures the attenuat...
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Schmidt, Klaus Verner; Schmidt, Şenan Ece (2016-05-20)
The subject of this paper is the coordination of lane changes of autonomous vehicles on a two-lane road segment before reaching a given critical position. We first develop an algorithm that performs a lane change of a single vehicle in the shortest possible time. This algorithm is then applied iteratively in order to handle all lane changes required on the considered road segment while guaranteeing traffic safety. Various example scenarios illustrate the functionality of our algorithm.
Mobility-on-demand scenarios relying on lightweight autonomous and connected vehicles for large pedestrian areas and intermodal hubs
Kumru, Murat; Makarem, Laleh; Gillet, Dens (null; 2017-10-05)
This paper presents Mobility-On-Demand (MoD) scenarios relying on lightweight autonomous and connected vehicles to ease commuting in large pedestrian areas and intermodal hubs. In particular, we discuss the case of the EPFL campus as an example of a large pedestrian area and the case of the main Zurich train station as an example of a large intermodal hub. These two scenarios help to investigate the potential benefits and the implementation challenges of innovative lightweight autonomous and connected vehic...
Characterization of Driver Neuromuscular Dynamics for Human-Automation Collaboration Design of Automated Vehicles
Lv, Chen; Wang, Huaji; Cao, Dongpu; Zhao, Yifan; Auger, Daniel J.; Sullman, Mark; Matthias, Rebecca; Skrypchuk, Lee; Mouzakitis, Alexandros (Institute of Electrical and Electronics Engineers (IEEE), 2018-12-01)
In order to design an advanced human-automation collaboration system for highly automated vehicles, research into the driver's neuromuscular dynamics is needed. In this paper, a dynamic model of drivers' neuromuscular interaction with a steering wheel is first established. The transfer function and the natural frequency of the systems are analyzed. In order to identify the key parameters of the driver-steering-wheel interacting system and investigate the system properties under different situations, experim...
Realistic Simulation of IEEE 802.11p Channel in Mobile Vehicle to Vehicle Communication
Islam, Tarikul; Hu, Yongchang; Onur, Ertan; Boltjes, Bert; De Jongh, J. F. C. M. (2013-04-18)
Intelligent Transportation Systems (ITS) is becoming an important paradigm, because of its ability to enhance safety and to mitigate congestion on road traffic scenarios. Realizing the fact that data collection scheme from in-situ test beds for large number of vehicles is always expensive and time consuming, before being employed in large scale, such safety critical system should be tested narrowing down the gap between real circumstances and analytical models in a simulation platform. It is evident that un...
Citation Formats
M. Atagoziev, “Communication and coordination for urban intelligent transportation: architecture and algorithms,” Ph.D. - Doctoral Program, Middle East Technical University, 2022.