相关论文: Autonomous Emergency Collision Avoidance and Stabi…

This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision avoidance into a unified optimization framework. We first…

Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…

This paper proposes a novel framework for addressing the challenge of autonomous overtaking and obstacle avoidance, which incorporates the overtaking path planning into Gaussian Process-based model predictive control (GPMPC). Compared with…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…

This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…

Safe autonomous driving in urban areas requires robust algorithms to avoid collisions with other traffic participants with limited perception ability. Current deployed approaches relying on Autonomous Emergency Braking (AEB) systems are…

This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. The formulation employs a smooth point-to-cloud distance…

This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance…

This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…

Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…

The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…

This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…

We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…

The widespread application of autonomous driving technology has significantly advanced the field of autonomous racing. Model Predictive Contouring Control (MPCC) is a highly effective local trajectory planning method for autonomous racing.…

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…