相关论文: A Tutorial On Autonomous Vehicle Steering Controll…
Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…
The recent proliferation of computing technologies (e.g., sensors, computer vision, machine learning, and hardware acceleration), and the broad deployment of communication mechanisms (e.g., DSRC, C-V2X, 5G) have pushed the horizon of…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…
This literature review focuses on three important aspects of an autonomous car system: tracking (assessing the identity of the actors such as cars, pedestrians or obstacles in a sequence of observations), prediction (predicting the future…
The main objective of this paper is to design and develop an automatic vehicle, fully controlled by a computer system. The vehicle designed in the present work can move in a pre-determined path and work automatically without the need of any…
Autonomous race cars require perception, estimation, planning, and control modules which work together asynchronously while driving at the limit of a vehicle's handling capability. A fundamental challenge encountered in designing these…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
A convolutional neural network (CNN) approach is used to implement a level 2 autonomous vehicle by mapping pixels from the camera input to the steering commands. The network automatically learns the maximum variable features from the camera…
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…
Designing traffic-smoothing cruise controllers that can be deployed onto autonomous vehicles is a key step towards improving traffic flow, reducing congestion, and enhancing fuel efficiency in mixed autonomy traffic. We bypass the common…
In recent years, the field of autonomous driving has attracted increasingly significant public interest. Accurately forecasting the future behavior of various traffic participants is essential for the decision-making of Autonomous Vehicles…
This paper describes the evolution of controllers for racing a simulated radio-controlled car around a track, modelled on a real physical track. Five different controller architectures were compared, based on neural networks, force fields…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
Autonomous driving has rapidly evolved through synergistic developments in hardware and artificial intelligence. This comprehensive review investigates traffic datasets and simulators as dual pillars supporting autonomous vehicle (AV)…
Autonomous driving clouds provide essential services to support autonomous vehicles. Today these services include but not limited to distributed simulation tests for new algorithm deployment, offline deep learning model training, and…
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for autonomous vehicles. Robustness, in this context, requires…