相关论文: A Tutorial On Autonomous Vehicle Steering Controll…

The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…

Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path…

There are many artificial intelligence algorithms for autonomous driving, but directly installing these algorithms on vehicles is unrealistic and expensive. At the same time, many of these algorithms need an environment to train and…

Current methods to learn controllers for autonomous vehicles (AVs) focus on behavioural cloning. Being trained only on exact historic data, the resulting agents often generalize poorly to novel scenarios. Simulators provide the opportunity…

This paper presents a proposed method of autonomous control for docking tasks of a single-seat personal mobility vehicle. We proposed a non-linear model predictive control (NMPC) based visual servoing to achieves the desired autonomous…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Self-driving vehicles have expanded dramatically over the last few years. Udacity has release a dataset containing, among other data, a set of images with the steering angle captured during driving. The Udacity challenge aimed to predict…

This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…

This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output…

This article outlines the architecture of autonomous driving and related complementary frameworks from the perspective of human comfort. The technical elements for measuring Autonomous Vehicle (AV) user comfort and psychoanalysis are listed…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

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…

Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…

Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two…