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The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…
Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…
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…
Rear end collisions are deadliest in nature and cause most of traffic casualties and injuries. In the existing research, many rear end collision avoidance solutions have been proposed. However, the problem with these proposed solutions is…
In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…
Despite advances in test-time scaling and diffusion finetuning, guidance for Auto-Regressive Diffusion Models (ARDMs) remains underexplored. We introduce an amortized framework that augments a pretrained ARDM with an offline-trained…
As the development of autonomous vehicles rapidly advances, the use of convoying/platooning becomes a more widely explored technology option for saving fuel and increasing the efficiency of traffic. In cooperative adaptive cruise control…
As the adaptive cruise control system (ACCS) on vehicles is well-developed today, vehicle manufacturers have increasingly employed this technology in new-generation intelligent vehicles. Pulse-and-glide (PnG) strategy is an efficacious…
Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS), enhancing road safety and traffic efficiency. While traditional methods have laid foundational work, modern deep…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
We present a novel adaptive cruise control (ACC) system namely SAINT-ACC: {S}afety-{A}ware {Int}elligent {ACC} system (SAINT-ACC) that is designed to achieve simultaneous optimization of traffic efficiency, driving safety, and driving…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular platoons with heterogeneous vehicles,…
Controllable generation, which enables fine-grained control over generated outputs, has emerged as a critical focus in visual generative models. Currently, there are two primary technical approaches in visual generation: diffusion models…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…