相关论文: Robust Lateral Control of a Convoy of Autonomous &…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Autonomous vehicles (AV) is an advanced technology that can bring convenience, improve the road-network throughput, and reduce traffic accidents. To enable higher levels of automation (LoA), massive amounts of sensory data need to be…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
Making safe and successful lane changes (LCs) is one of the many vitally important functions of autonomous vehicles (AVs) that are needed to ensure safe driving on expressways. Recently, the simplicity and real-time performance of the…
Given the increasing popularity and demand for connected and autonomous vehicles (CAVs), Eco-driving and platooning in highways and urban areas to increase the efficiency of the traffic system is becoming a possibility. This paper presents…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
Connected Autonomous Vehicles have great potential to improve automobile safety and traffic flow, especially in cooperative applications where perception data is shared between vehicles. However, this cooperation must be secured from…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
This paper proposes a cooperative strategy of connected and automated vehicles (CAVs) longitudinal control for partially connected and automated traffic environment based on deep reinforcement learning (DRL) algorithm, which enhances the…
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…
Over the last decade, there has been increasing interest in autonomous driving systems. Reinforcement Learning (RL) shows great promise for training autonomous driving controllers, being able to directly optimize a combination of criteria…
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adversarial interactions. This paper presents a comprehensive…
Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under exploration.however, it has been proved that by introducing Connected Automated Vehicles(CAVs) with carefully designed…
The ever-increasing heavy traffic congestion potentially impedes the accessibility of emergency vehicles (EVs), resulting in detrimental impacts on critical services and even safety of people's lives. Hence, it is significant to propose an…