Related papers: Collision Avoidance for Bi-Steerable Car Using Ana…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
Driver distraction strongly contributes to crash-risk. Therefore, assistance systems that warn the driver if her distraction poses a hazard to road safety, promise a great safety benefit. Current approaches either seek to detect critical…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
One desirable capability of autonomous cars is to accurately predict the pedestrian motion near intersections for safe and efficient trajectory planning. We are interested in developing transfer learning algorithms that can be trained on…
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…