Related papers: Collision Avoidance for Bi-Steerable Car Using Ana…
Offset curves for planar trajectories are interesting in the generation of tool paths for numerically controlled industrial machines and in trajectory planning methods for autonomous driving systems. Theoretical offset curves may exhibit…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises naturally for on-road and off-road vehicles that require reliable…
This work investigates the finite-horizon optimal covariance steering problem for discrete-time linear systems subject to both additive and multiplicative uncertainties as well as state and input chance constraints. In particular, a…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimization problems within the successive convexification…
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…
The trend in the development of highly automated vehicles goes towards scenario-based methods. Traffic Sequence Charts are a visual but yet formal language for describing scenario-based requirements on highly automated vehicles. This work…
We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1)…
Oversteer, wherein a vehicle's rear tires lose traction and induce unintentional excessive yaw, poses critical safety challenges. Failing to control oversteer often leads to severe traffic accidents. Although recent autonomous driving…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
Accurate estimation of the tire slip ratio is critical for vehicle safety, as it is necessary for vehicle control purposes. In this paper, an intelligent tire system is presented to develop a novel slip ratio estimation model using machine…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…