Related papers: A new model-free design for vehicle control and it…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…
This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control of a vehicle. To this extent, two different artificial…
"Model-free control" and the corresponding "intelligent" PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while lateral controllers…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
Virtual development and prototyping has already become an integral part in the field of automated driving systems (ADS). There are plenty of software tools that are used for the virtual development of ADS. One such tool is CarMaker from IPG…
Current state-of-art traffic microsimulation tools cannot accurately estimate safety, efficiency, and mobility benefits of automated driving systems and vehicle connectivity because of not considering physical and powertrain characteristics…
In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…
Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for…
Lane-changing (LC) behavior, a critical yet complex driving maneuver, significantly influences driving safety and traffic dynamics. Traditional analytical LC decision (LCD) models, while effective in specific environments, often…
It is envisioned that, in the future, most vehicles on our roadway will be controlled autonomously and will be connected via vehicle to everything (V2X) wireless communication networks. Developing a connected and automated vehicle (CAV)…