Ardalan Vahidi
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View article: Energy Efficient Automated Driving as a GNEP: Vehicle-in-the-loop Experiments
Energy Efficient Automated Driving as a GNEP: Vehicle-in-the-loop Experiments Open
In this paper, a multi-agent motion planning problem is studied aiming to minimize energy consumption of connected automated vehicles (CAVs) in lane change scenarios. We model this interactive motion planning as a generalized Nash equilibr…
View article: Automated Lane Change via Adaptive Interactive MPC: Human-in-the-Loop Experiments
Automated Lane Change via Adaptive Interactive MPC: Human-in-the-Loop Experiments Open
This article presents a new optimal control-based interactive motion planning algorithm for an autonomous vehicle interacting with a human-driven vehicle. The ego vehicle solves a joint optimization problem for its motion planning involvin…
View article: Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets Open
Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-drivin…
View article: Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets Open
Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-drivin…
View article: Automated Vehicle Highway Merging: Motion Planning via Adaptive Interactive Mixed-Integer MPC
Automated Vehicle Highway Merging: Motion Planning via Adaptive Interactive Mixed-Integer MPC Open
A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both vehicle costs over…
View article: Energy-efficient Reactive and Predictive Connected Cruise Control
Energy-efficient Reactive and Predictive Connected Cruise Control Open
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are prop…
View article: Considerate and Cooperative Model Predictive Control for Energy-Efficient Truck Platooning of Heterogeneous Fleets
Considerate and Cooperative Model Predictive Control for Energy-Efficient Truck Platooning of Heterogeneous Fleets Open
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated con…
View article: Advancing Platooning with ADAS (Advanced Driver-Assistance Systems) Control Integration and Assessment
Advancing Platooning with ADAS (Advanced Driver-Assistance Systems) Control Integration and Assessment Open
Application of Cooperative Adaptive Cruise Control (CACC) to heavy duty trucks known as truck platooning has shown fuel economy improvements on the test track under ideal driving conditions. However, limited test data is available to asses…
View article: Multilane Automated Driving With Optimal Control and Mixed-Integer Programming
Multilane Automated Driving With Optimal Control and Mixed-Integer Programming Open
Road vehicle lane changes often initiate traffic disturbances and can therefore impact road networks’ energy and time efficiency. Furthermore, unexpected changes in traffic conditions may also render lane changes counterproductive for the …
View article: Boosting Energy Efficiency of Heterogeneous Connected Automated Vehicle (CAV) Fleets via Anticipative and Cooperative Vehicle Guidance
Boosting Energy Efficiency of Heterogeneous Connected Automated Vehicle (CAV) Fleets via Anticipative and Cooperative Vehicle Guidance Open
In 2017, the Department of Energy funded a team at Clemson University and Argonne National Laboratory to develop collaborative perception and anticipative/predictive vehicle guidance schemes for Connected and Automated Vehicles (CAVs) and …
View article: Optimal Pacing of a Cyclist in a Time Trial Based on Experimentally Calibrated Models of Fatigue and Recovery.
Optimal Pacing of a Cyclist in a Time Trial Based on Experimentally Calibrated Models of Fatigue and Recovery. Open
In this paper, we first report the use of experimental data from six human subjects to validate and calibrate our proposed dynamic models for fatigue and recovery of cyclists in [1]. These models are employed to formulate pacing strategy o…
View article: Optimal Pacing of a Cyclist in a Time Trial Based on Individualized Models of Fatigue and Recovery
Optimal Pacing of a Cyclist in a Time Trial Based on Individualized Models of Fatigue and Recovery Open
This paper formulates optimal pacing of a cyclist on hilly terrain time-trials as a minimum-time optimal control problem. Maximal power of a cyclist serves as a time-varying constraint and depends on fatigue and recovery which are captured…
View article: Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency
Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency Open
The proliferation of automatic control systems and their connectivity accents the performance of their interactions. In particular, connected and automated vehicles could become high-impact examples thanks to their energy use and productiv…
View article: Feedbackless Relaying for Enhancing Reliability of Connected Vehicles
Feedbackless Relaying for Enhancing Reliability of Connected Vehicles Open
This paper considers the network- and application-level reliabilities for connected vehicles under path loss environments. We derive a probabilistic framework for estimating reliabilities that is applicable with various path loss models. W…
View article: Information and Collaboration Levels in Vehicular Strings: A Comparative Study
Information and Collaboration Levels in Vehicular Strings: A Comparative Study Open
The potential safety, productivity, and energy benefits of automated vehicles have driven a surge of research interest in their algorithms. Even within single-lane driving, control engineers now have a profusion of approaches available to …
View article: Microsimulation of Energy and Flow Effects from Optimal Automated\n Driving in Mixed Traffic
Microsimulation of Energy and Flow Effects from Optimal Automated\n Driving in Mixed Traffic Open
This paper studies the energy and traffic impact of a proposed Anticipative\nCruise Controller in a PTV VISSIM microsimulation environment. We dissect our\ncontroller into two parts: 1. the anticipative mode, more immediately\nbeneficial w…
View article: Analysis of Reliabilities under Different Path Loss Models in Urban/Sub-Urban Vehicular Networks
Analysis of Reliabilities under Different Path Loss Models in Urban/Sub-Urban Vehicular Networks Open
This paper studies the impact of propagation path losses in urban/sub-urban vehicular networks. The impact has been analyzed considering both the network-layer and application-layer reliabilities. We have built a realistic vehicular simula…
View article: Automated Vehicles in Hazardous Merging Traffic: A Chance-Constrained Approach
Automated Vehicles in Hazardous Merging Traffic: A Chance-Constrained Approach Open
To realize the energy efficiency and productivity benefits of automated driving, control algorithms must function safely among conventional vehicles. Prototype tests on public roads have revealed a trend of human-driven vehicles rear-endin…
View article: Efficient and Collision-Free Anticipative Cruise Control in Randomly Mixed Strings
Efficient and Collision-Free Anticipative Cruise Control in Randomly Mixed Strings Open
Connected intelligent vehicle following can improve safety and efficiency compared to today's road transport, but real traffic in the near future will not provide an ideal setting for its deployment. Unconnected human-driven vehicles will …
View article: Predictively Coordinated Vehicle Acceleration and Lane Selection Using Mixed Integer Programming
Predictively Coordinated Vehicle Acceleration and Lane Selection Using Mixed Integer Programming Open
Autonomous vehicle technology provides the means to optimize motion planning beyond human capacity. In particular, the problem of navigating multi-lane traffic optimally for trip time, energy efficiency, and collision avoidance presents ch…
View article: Impact of Model Simplification on Optimal Control of Combustion Engine and Electric Vehicles Considering Control Input Constraints
Impact of Model Simplification on Optimal Control of Combustion Engine and Electric Vehicles Considering Control Input Constraints Open
This paper analyzes the impact of model simplification on optimal control for electric and conventional engine-powered vehicles. An optimal control problem is formulated to minimize energy/fuel consumption subject to control input constrai…
View article: Multi-Intersection Traffic Management for Autonomous Vehicles via Distributed Mixed Integer Linear Programming
Multi-Intersection Traffic Management for Autonomous Vehicles via Distributed Mixed Integer Linear Programming Open
This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves …
View article: Modeling the Expenditure and Recovery of Anaerobic Work Capacity in Cycling
Modeling the Expenditure and Recovery of Anaerobic Work Capacity in Cycling Open
The objective of this research is to model the expenditure and recovery of Anaerobic Work Capacity (AWC) as related to Critical Power (CP) during cycling. CP is a theoretical value at which a human can operate indefinitely and AWC is the e…
View article: A Hierarchical Route Guidance Framework for Off-Road Connected Vehicles
A Hierarchical Route Guidance Framework for Off-Road Connected Vehicles Open
A new framework for route guidance, as part of a path decision support tool, for off-road driving scenarios is presented in this paper. The algorithm accesses information gathered prior to and during a mission which are stored as layers of…