Cooperative Driving Automation & V2X

Connected vehicles can share their state and intent over vehicle-to-vehicle and vehicle-to-cloud links. This work asks how that shared information can support cooperative maneuvers such as merging, intersection crossing, and platooning; how cooperation holds up when messages are delayed or lost; and how such systems can be evaluated beyond simulation. It develops cooperative maneuver strategies, communication-aware methods, and the co-simulation platforms and vehicle tests used to evaluate them.

Main themes

  1. Cooperative ramp merging

    Merging based on digital twins of vehicles and drivers kept on a cloud server over 4G/LTE, with advisories returned to drivers and a field implementation on three passenger vehicles; and game-theoretic merging for mixed traffic of automated and human-driven vehicles.

    Liao et al., IEEE T-ITS 2022 · Liao et al., IEEE T-SMC 2022

  2. Intersections and roundabouts

    Digital-twin-assisted cooperative driving at non-signalized intersections and at roundabouts.

    Wang et al., IEEE T-IV 2022 · Li et al., IEEE FISTS 2024

  3. Cooperation over imperfect communication

    Intent communication between vehicles to improve platooning, validated with prototype vehicles; motion estimation under V2X communication delay and packet loss; and identifying the sender of vehicle-to-vehicle messages.

    Sharma et al., IEEE INFOCOM 2026 (poster) · Wang et al., SAE WCX 2021 · Kobayashi et al., IEEE VTC 2019

  4. Co-simulation platforms

    Platforms that couple the Unity game engine with SUMO traffic simulation to model and evaluate connected and automated vehicles in mixed traffic; the 2019 ramp-merging simulation article received the SAE JCAV Best Paper Award.

    Wang et al., SAE JCAV 2019 · Zhao et al., SAE JCAV 2022

Systems and validation

Representative publications

A curated selection. Citations above link to each paper; see the full publication list for all work.

IEEE T-ITS 2022

Cooperative Ramp Merging Design and Field Implementation: A Digital Twin Approach Based on Vehicle-to-Cloud Communication

X. Liao, Z. Wang, X. Zhao, K. Han, P. Tiwari, M. Barth, and G. Wu

IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 5, pp. 4490–4500

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IEEE INFOCOM 2026Poster

Using Intent Communication to Enhance Platooning: Validation with Prototype Vehicles

S. Sharma, A. Moradipari, S. Avedisov, M. Nour, S. Mishra, K. Han, A. Abdelraouf, T. Shimizu, and O. Altintas

IEEE INFOCOM 2026, Tokyo, Japan

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IEEE T-SMC 2022

Game Theory-Based Ramp Merging for Mixed Traffic With Unity-SUMO Co-Simulation

X. Liao, X. Zhao, Z. Wang, K. Han, P. Tiwari, M. Barth, and G. Wu

IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 9, pp. 5746–5757

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IEEE T-IV 2022

Digital Twin-Assisted Cooperative Driving at Non-Signalized Intersections

Z. Wang, K. Han, and P. Tiwari

IEEE Transactions on Intelligent Vehicles, vol. 7, no. 2, pp. 198--209

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SAE JCAV 2022

Co-Simulation Platform for Modeling and Evaluating Connected and Automated Vehicles in Mixed Traffic

X. Zhao, X. Liao, G. Wu, M. Barth, Z. Wang, K. Han, and P. Tiwari

SAE International Journal of Connected and Automated Vehicles, vol. 5, no. 4, pp. 313--326

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SAE JCAV 2019Best Paper Award

Cooperative Ramp Merging System: Agent-Based Modeling and Simulation Using Game Engine

Z. Wang, X. Liao, C. Wang, D. Oswald, G. Wu, K. Boriboonsomsin, M. Barth, K. Han, B. Kim, and P. Tiwari

SAE International Journal of Connected and Automated Vehicles, vol. 2, no. 2, pp. 115-128

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Full publication list

Other research areas