相关论文: Autonomous Driving System Design for Formula Stude…
Free-flow road networks, such as suburban highways, are increasingly experiencing traffic congestion due to growing commuter inflow and limited infrastructure. Traditional control mechanisms, such as traffic signals or local heuristics, are…
Vehicle tracking is an integral part of intelligent traffic management systems. Previous implementations of vehicle tracking used Global Positioning System(GPS) based systems that gave location of the vehicle of an individual on their…
This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…
For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…
In recent years, achieving full autonomy in driving has emerged as a paramount objective for both the industry and academia. Among various perception technologies, Lidar (Light detection and ranging) stands out for its high-precision and…
This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…
Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread vehicle compatibility and reducing sensor intrusion, cost, and energy consumption. However, visual approaches are often…
Unmanned vehicle technologies are an area of great interest in theory and practice today. These technologies have advanced considerably after the first applications have been implemented and cause a rapid change in human life. Autonomous…
Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while…
The rapidly evolving field of autonomous driving systems (ADSs) is full of promise. However, in order to fulfil these promises, ADSs need to be safe in all circumstances. This paper introduces ISS-Scenario, an autonomous driving testing…
This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…
We develop a novel framework to assess the risk of misperception in a traffic sign classification task in the presence of exogenous noise. We consider the problem in an autonomous driving setting, where visual input quality gradually…
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However, developing an autonomous racing stack for a full-scale car…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Traffic congestion is a widespread problem. Dynamic traffic routing systems and congestion pricing are getting importance in recent research. Lane prediction and vehicle density estimation is an important component of such systems. We…
High Speed multi-vehicle Autonomous Racing will increase the safety and performance of road-going Autonomous Vehicles. Precise vehicle detection and dynamics estimation from a moving platform is a key requirement for planning and executing…
Accurate lane detection is essential for automated driving, enabling safe and reliable vehicle navigation across a variety of road scenarios. Numerous datasets have been introduced to support the development and evaluation of lane detection…