相关论文: Learning a Lattice Planner Control Set for Autonom…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Learning-based techniques are increasingly effective at controlling complex systems using data-driven models. However, most work done so far has focused on learning individual tasks or control laws. Hence, it is still a largely unaddressed…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…

Synthetic control methods often rely on matching pre-treatment characteristics (called predictors) of the treated unit. The choice of predictors and how they are weighted plays a key role in the performance and interpretability of synthetic…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynamics from observations requires large amounts of data. We…

Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…

Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes…

We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

Neural network sparsity has attracted many research interests due to its similarity to biological schemes and high energy efficiency. However, existing methods depend on long-time training or fine-tuning, which prevents large-scale…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in…

This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajectory in an autonomous racing scenario. We propose a greedy…

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With…