Related papers: Shared Control for Vehicle Lane-Changing with Unce…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Lane-change maneuvers are a leading cause of highway accidents, underscoring the need for accurate intention prediction to improve the safety and decision-making of autonomous driving systems. While prior studies using machine learning and…
Control of mixed-autonomy traffic where Human-driven Vehicles (HVs) and Autonomous Vehicles (AVs) coexist on the road has gained increasing attention over the recent decades. This paper addresses the boundary stabilization problem for mixed…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3)…
As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system. Risk-aware behavior needs to naturally develop in order to…
This study investigates the assisted lane change functionality of five different vehicles equipped with advanced driver assistance systems (ADAS). The goal is to examine novel, under-researched features of commercially available ADAS…
It is known that autonomous cars can increase road capacities by maintaining a smaller headway through vehicle platooning. Recent works have shown that these capacity increases can influence vehicles' route choices in unexpected ways…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous…
The accurate prediction of smooth steering inputs is crucial for automotive applications because control actions with jitter might cause the vehicle system to become unstable. To address this problem in automobile lane-keeping control…
Real-world network systems are inherently dynamic, with network topologies undergoing continuous changes over time. Previous works often focus on static networks or rely on complete prior knowledge of evolving topologies, whereas real-world…
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…
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…
Microscopic traffic simulation provides a controllable, repeatable, and efficient testing environment for autonomous vehicles (AVs). To evaluate AVs' safety performance unbiasedly, the probability distributions of environment statistics in…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
In this work, we propose an alternative stochastic model for the fundamental diagram of traffic flow with minimal number of parameters. Our approach is based on a mesoscopic viewpoint of the traffic system in terms of the dynamics of…