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

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…

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…

This article is a technical report on the two different guidance systems based on vector fields that can be found in Paparazzi, a free sw/hw autopilot. Guiding vector fields allow autonomous vehicles to track paths described by the user…

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…

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…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

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…

The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…

In this work, we try to implement Image Processing techniques in the area of autonomous vehicles, both indoor and outdoor. The challenges for both are different and the ways to tackle them vary too. We also showed deep learning makes things…

Autonomous vehicles are increasingly introduced into our lives. Yet, people's misunderstanding and mistrust have become the major obstacles to the use of these technologies. In response to this problem, proper work must be done to increase…

With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…

Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…

Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…