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The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
This paper presents a hierarchical decision-making framework for autonomous navigation in four-wheel independent steering and driving (4WISD) systems. The proposed approach integrates deep reinforcement learning (DRL) for high-level…
For autonomous vehicles lane keeping purposes it is crucial to control the vehicle yaw rate. As it is known a vehicle yaw rate control can be achieved handling the steering angle. One option is to consider a robust controller and depending…
Automated drifting presents a challenge problem for vehicle control, requiring models and control algorithms that can precisely handle nonlinear, coupled tire forces at the friction limits. We present a neural network architecture for…
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning performance. This paper presents a solution for the…
Near the limits of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and accurate modelling in this region could improve safety, especially in emergency situations where high forces are required. To…
The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Distributed drive electric vehicles offer superior yaw moment control for autonomous drifting in extreme maneuvers. Conventional drift analysis constructs stability boundaries from open loop equilibria points and assumes a fixed envelope…
Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…