相关论文: A Hierarchical Approach for Strategic Motion Plann…

In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…

Learning-based driving solution, a new branch for autonomous driving, is expected to simplify the modeling of driving by learning the underlying mechanisms from data. To improve the tactical decision-making for learning-based driving…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

In this paper we present a Learning Model Predictive Controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where an iteration corresponds to a lap. In the proposed approach…

The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…

Fully autonomous racing demands not only high-speed driving but also fair and courteous maneuvers. In this paper, we propose an autonomous racing framework that learns complex racing behaviors from expert demonstrations using hierarchical…

Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

We develop a hierarchical controller for head-to-head autonomous racing. We first introduce a formulation of a racing game with realistic safety and fairness rules. A high-level planner approximates the original formulation as a discrete…

This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…

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 paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. As a result, global planning frameworks are frequently necessary to avoid local minima…