Related papers: A Tutorial On Autonomous Vehicle Steering Controll…
We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…
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…
This paper proposes an extensive overview of safety applications and approaches as it relates to automated driving from the prospectives of sensor configurations, vehicle dynamics modelling, tyre modeling, and estimation approaches. First,…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…
Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…
Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…
Self-driving vehicles are expected to be a massive economic influence over the coming decades. Udacity https://www.udacity.com/ has been working on a completely open-source self driving car. Thus, it regularly organizes various…
Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…
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…
The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…
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…
We present a small autonomous vehicle, with the purpose of aiding teachers and researchers to easily deploy different approaches to guidance, control and positioning systems, without the hassle to develop the entire modules required for…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
The way we communicate with autonomous cars will fundamentally change as soon as manual input is no longer required as back-up for the autonomous system. Maneuver-based driving is a potential way to allow still the user to intervene with…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Autonomous vehicles (AVs) are being rapidly introduced into our lives. However, public misunderstanding and mistrust have become prominent issues hindering the acceptance of these driverless technologies. The primary objective of this study…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…