Related papers: Development of an Advisory System for Parking of a…
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…
Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the…
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…
Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…
In recent years, significant advancements have been made in the field of autonomous driving with the aim of increasing safety and efficiency. However, research that focuses on tractor-trailer vehicles is relatively sparse. Due to the…
Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
Movie trailers perform multiple functions: they introduce viewers to the story, convey the mood and artistic style of the film, and encourage audiences to see the movie. These diverse functions make trailer creation a challenging endeavor.…
Traffic violations like illegal parking, illegal turning, and speeding have become one of the greatest challenges in urban transportation systems, bringing potential risks of traffic congestions, vehicle accidents, and parking difficulties.…
Automated vehicles will allow occupants to engage in non-driving tasks, but limited visual cues will make them vulnerable to unexpected movements. These unpredictable perturbations create a "surprise factor," forcing the central nervous…
Lateral assistance systems are a significant part of the currently existing Advanced Driving Assistance System (ADAS). In most cases, such systems provide intermittent audio and haptic feedback rather than continuous feedback, making it…
Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning…
Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is a difficult task in comparison to passenger cars. Most research on motion planning for autonomous vehicles has focused on passenger vehicles, and many unique…
Automated Parking is becoming a standard feature in modern vehicles. Existing parking systems build a local map to be able to plan for maneuvering towards a detected slot. Next generation parking systems have an use case where they build a…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to…