相关论文: Speed-Adaptive Model-Free Lateral Control for Auto…
Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
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…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
The hype around self-driving cars has been growing over the past years and has sparked much research. Several modules in self-driving cars are thoroughly investigated to ensure safety, comfort, and efficiency, among which the controller is…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
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…
The model-free control approach is an advanced control law that requires few information about the process to control. Since its introduction in 2008, numerous applications have been successfully considered, highlighting attractive…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…
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…
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…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…