相关论文: Coupled Longitudinal and Lateral Control of a Vehi…

Traffic accidents can be studied to mitigate the risk of further events. Recent advances in machine learning have provided an alternative way to study data associated with traffic accidents. New models achieve good generalization and high…

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…

This paper presents a coupled, neural network-aided longitudinal cruise and lateral path-tracking controller for an autonomous vehicle with model uncertainties and experiencing unknown external disturbances. Using a feedback error learning…

In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…

This work proposes a new self-driving framework that uses a human driver control model, whose feature-input values are extracted from images using deep convolutional neural networks (CNNs). The development of image processing techniques…

Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the…

Fully autonomous driving has been widely studied and is becoming increasingly feasible. However, such autonomous driving has yet to be achieved on public roads, because of various uncertainties due to surrounding human drivers and…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Lane changing and obstacle avoidance are one of the most important tasks in automated cars. To date, many algorithms have been suggested that are generally based on path trajectory or reinforcement learning approaches. Although these…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately…

Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

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…

In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…

A rise in popularity of Deep Neural Networks (DNNs), attributed to more powerful GPUs and widely available datasets, has seen them being increasingly used within safety-critical domains. One such domain, self-driving, has benefited from…

Decision-making module enables autonomous vehicles to reach appropriate maneuvers in the complex urban environments, especially the intersection situations. This work proposes a deep reinforcement learning (DRL) based left-turn…

In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…

A fundamental challenge in car-following modeling lies in accurately representing the multi-scale complexity of driving behaviors, particularly the intra-driver heterogeneity where a single driver's actions fluctuate dynamically under…