Related papers: Robust Modeling and Controls for Racing on the Edg…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
This report describes our approach to design and evaluate a software stack for a race car capable of achieving competitive driving performance in the different disciplines of the Formula Student Driverless. By using a 360{\deg} LiDAR and…
Most automated driving functions are designed for a specific task or vehicle. Most often, the underlying architecture is fixed to specific algorithms to increase performance. Therefore, it is not possible to deploy new modules and…
We develop optimal control strategies for autonomous vehicles (AVs) that are required to meet complex specifications imposed as rules of the road (ROTR) and locally specific cultural expectations of reasonable driving behavior. We formulate…
The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
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…
This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies…
With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always controls the drone to agilely avoid obstacles in aggressive…
Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…
This paper presents a scenario generation framework that creates diverse, parametrized, and safety-critical driving situations to validate the safety features of autonomous vehicles in simulation [15]. By modeling factors such as road…
In recent years, autonomous driving has become a popular field of study. As control at tire grip limit is essential during emergency situations, algorithms developed for racecars are useful for road cars too. This paper examines the use of…
This paper focuses on the speed planning problem for connected and automated vehicles (CAVs) communicating to traffic lights. The uncertainty of traffic signal timing for signalized intersections on the road is considered. The eco-driving…
Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…
Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
In this paper, we describe the automated simulation and reporting pipeline implemented for our autonomous racing stack, ur.autopilot. The backbone of the simulation is based on a high-fidelity model of the vehicle interfaced as a Functional…
The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars.…
We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as…
Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…