相关论文: A Study on Shared Steering Control in Driving Expe…

Each year, over half of global traffic fatalities involve vulnerable road users (e.g. pedestrians), often due to human error. Level-5 automated driving systems (ADSs) could reduce driver errors contributing to pedestrian accidents, though…

Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…

In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar. The model is used in a Model Predictive Controller in which we included a micro-steps…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Shared Autonomous Vehicles (SAVs) are likely to become an important part of the transportation system, making effective human-SAV interactions an important area of research. This paper introduces a dataset of 200 human-SAV interactions to…

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…

Driver assistance systems are designed to increase comfort and safety by automating parts of the driving task. At the same time, modern in-vehicle information systems with large touchscreens provide the driver with numerous options for…

By 2030, the senior population aged 65 and older is expected to increase by over 50%, significantly raising the number of older drivers on the road. Drivers over 70 face higher crash death rates compared to those in their forties and…

Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use position-based control, where policies output target joint…

Steering a car through traffic is a complex task that is difficult to cast into algorithms. Therefore, researchers turn to training artificial neural networks from front-facing camera data stream along with the associated steering angles.…

Transportation systems have long been shaped by complexity and heterogeneity, driven by the interdependency of agent actions and traffic outcomes. The deployment of automated vehicles (AVs) in such systems introduces a new challenge:…

Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…

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…

Stress testing is an approach for evaluating the reliability of systems under extreme conditions which help reveal vulnerable scenarios that standard testing may overlook. Identifying such scenarios is of great importance in autonomous…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

While automated vehicle (AV) research has grown steadily in recent years, the impact of automated lane changing behavior on transportation systems remains a largely understudied topic. The present work aims to explore the effects of…

This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…

Lane-changing is an important driving behavior and unreasonable lane changes can result in potentially dangerous traffic collisions. Advanced Driver Assistance System (ADAS) can assist drivers to change lanes safely and efficiently. To…