Related papers: Intelligent Momentary Assisted Control for Autonom…
In this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
In intelligent transportation systems (ITS), adaptive transit signal priority (TSP) and dynamic bus control systems have been independently developed to maintain efficient and reliable urban bus services. However, those two systems could…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive Control (MPC) with Extremum Seeking Control (ESC) to optimize the traction and…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
In Europe, 20% of road crashes occur at intersections. In recent years, evolving communication technologies are making V2V and V2I faster and more reliable; with such advancements, these crashes, as well as their economic cost, can be…
Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Research suggests that a Motorcycle Autonomous Emergency Braking system (MAEB) could influence 25% of the crashes involving powered two wheelers (PTWs). By automatically slowing down a host PTW of up to 10 km/h in inevitable collision…
The End-of-Line (EoL) calibration of semi-active suspension systems for road vehicles is usually a critical and expensive task, needing a team of vehicle and control experts as well as many hours of professional driving. In this paper, we…
An Autonomous Road Vehicle (ARV) can navigate various types of road networks using inputs such as throttle (acceleration), braking (deceleration), and steering (change of lateral direction). In most ARV driving scenarios that involve normal…
Braking system, the key module to ensure the safety and steer-ability of current vehicles, relies on extensive manual calibration during production. Reducing labor and time consumption while maintaining the Vehicle Braking Controller (VBC)…
This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…