Intelligent vehicles have increased their capabilities for highly and, even fully, automated driving under controlled environments. Scene information is received using onboard sensors and communication network systems, i.e., infrastructure and other vehicles. Considering the available information, different motion planning and control techniques have been implemented to autonomously driving on complex environments. The main goal is focused on executing strategies to improve safety, comfort, and energy optimization. However, research challenges such as navigation in urban dynamic environments with obstacle avoidance capabilities, i.e., vulnerable road users (VRU) and vehicles, and cooperative maneuvers among automated and semi-automated vehicles still need further efforts for a real environment implementation. This paper presents a review of motion planning techniques implemented in the intelligent vehicles literature. A description of the technique used by research teams, their contributions in motion planning, and a comparison among these techniques is also presented. Relevant works in the overtaking and obstacle avoidance maneuvers are presented, allowing the understanding of the gaps and challenges to be addressed in the next years. Finally, an overview of future research direction and applications is given.

A Review of Motion Planning Techniques for Automated Vehicles

Transportation research. part c, emerging technologies

https://www.tuc.gr/fileadmin/users_data/elci/Kalaitzakis/J.25.pdf

A survey of video processing techniques for traffic applications

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation.

Telemanipulation with Time Delays

http://userweb.eng.gla.ac.uk/konstantinos.ampountolas/files/pubs/CEP2002.pdf

A multivariable regulator approach to traffic-responsive network-wide signal control

This work studies a lane reservation problem in a transportation network. It aims to design task paths and optimally select lanes to be reserved in a transportation network. In this problem, each lane has limited residual capacity, which is the lane capacity that can be used for the tasks causing no delay in this lane. If the residual capacity of a lane is not large enough to allow tasks to use it, the reservation of this lane is necessary. Once reserved, the lane can be used by the tasks only. Therefore, the travel time in this reserved lane is less than that when it is not reserved. Such lane reservation strategy ensures that each task can transport the commodity from its source to destination within a given travel time. However, this reserved lane generates traffic impact on nonreserved lanes. The objective of the problem is to minimize the total impact of all reserved lanes on nonreserved lanes subject to the timely completion of all the concerned tasks. In this paper, two integer linear programming models are, for the first time, formulated. The complexity of the problem is demonstrated to be non-deterministic polynomial-time hard. Then, an optimal algorithm based on the cut-and-solve method is developed for the problem. The computational results of randomly generated network instances up to 120 nodes and 468 arcs show that the proposed algorithm significantly outperforms the direct use of an optimization solver of CPLEX.

Optimal Lane Reservation in Transportation Network

This paper describes a new integrated macroscopic modelling tool namely "METACOR" for simulating traffic flow phenomena including traffic assignment modelling within mixed network (motorway and urban road subnetworks) of arbitrary topology. METACOR has been validated on the basis of real traffic flow measurements selected under a broad spectrum of traffic conditions. The mathematical model is capable of describing complicated traffic phenomena with acceptable accuracy. A simulation program may be used as a tool for testing of control strategies related to ramp metering, signal control and Variable Message Sign (VMS) control. (A) For the covering abstract see IRRD 868006.

Metacor: a macroscopic modelling tool for urban corridor

This paper investigates an automated truck transportation problem via lane reservation strategy. The focus of the problem is to design lane reservation based paths for time-efficient transportation. The lane reservation strategy requires to select some existing general-purpose lanes from a transportation network and convert them to automated truck lanes in order to ensure the time-guaranteed transportation. However, such conversion may cause traffic impact such as increase of travel time on adjacent lanes due to the disallowing use of the automated truck lanes by the general-purpose vehicles. Thus, the problem aims at optimally designing the time-efficient truck paths while minimizing the impact on the overall network performance. The considered problem is formulated as an integer linear program and is demonstrated NP-hard. To solve it, an optimal algorithm based on the cut-and-solve method is proposed. Numerical computational results of randomly generated instances show the efficiency of the proposed algorithm compared with a referenced software package CPLEX 12.1.

/pdf/an-optimal-algorithm-for-automated-truck-freight-3zith9lts4.pdf

An optimal algorithm for automated truck freight transportation via lane reservation strategy

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/3594.pdf

Said Mammar

Papers

Optimal Lane Reservation in Transportation Network

Metacor: a macroscopic modelling tool for urban corridor

An optimal algorithm for automated truck freight transportation via lane reservation strategy

Trajectory Tracking for Highly Automated Passenger Vehicles

Dynamic Programming for Fuel Consumption Optimization on Light Vehicle