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This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
Enhancing the performance of trajectory planners for lane - changing vehicles is one of the key challenges in autonomous driving within human - machine mixed traffic. Most existing studies have not incorporated human drivers' prior…
In the past few years, researches on advanced driver assistance systems (ADASs) have been carried out and deployed in intelligent vehicles. Systems that have been developed can perform different tasks, such as lane keeping assistance (LKA),…
The development of Automated Driving Systems (ADSs) has advanced significantly. To enable their large-scale deployment, the United Nations Regulation 157 (UN R157) concerning the approval of Automated Lane Keeping Systems (ALKSs) has been…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is probably that current approaches are not push-button-capable…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
Technological advancements focus on developing comfortable and acceptable driving characteristics in autonomous vehicles. Present driving functions predominantly possess predefined parameters, and there is no universally accepted driving…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…
Behavior prediction plays an essential role in both autonomous driving systems and Advanced Driver Assistance Systems (ADAS), since it enhances vehicle's awareness of the imminent hazards in the surrounding environment. Many existing lane…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…
Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…
Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…
When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are often overlooked by the traditional end-to-end planning…
This paper proposes a control technique for autonomous RC car racing. The presented method does not require any map-building phase beforehand since it operates only local path planning on the actual LiDAR point cloud. Racing control…