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The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…
Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
Intelligent Transportation Systems (ITS) have a pressing need for efficient and reliable traffic surveillance solutions. This paper for the first time proposes a surveillance system that utilizes low-cost magnetic sensors for detecting and…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…
Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance…
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…
Estimation of the degree of stability and the bounds of solutions to non-autonomous nonlinear systems present major concerns in numerous applied problems. Yet, current techniques are frequently yield overconservative conditions which are…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…
Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver license examination is chosen here for automatic execution by a…
Recent developments in advanced sensors, wireless communications and intelligent vehicle control technologies have enabled vehicles to detect traffic anomalies on the road and then notify surrounding vehicles to improve traffic safety.…
The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small…
Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…
In this paper, we theoretically develop and numerically validate an asymmetric linear bilateral control model (LBCM). The novelty of the asymmetric LBCM is that using this model all the follower vehicles in a platoon can adjust their…
Stability of linear systems with uncertain bounded time-varying delays is studied under assumption that the nominal delay values are not equal to zero. An input-output approach to stability of such systems is known to be based on the bound…
We explore a new approach to radio resource allocation for vehicle-to-vehicle (V2V) communications in case of out-of-coverage areas that are delimited by network infrastructure. By collecting and predicting information such as vehicle…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…