相关论文: Time-to-Collision-Aware Lane-Change Strategy Based…

Autonomous driving technology has made significant advancements in recent years, yet challenges remain in ensuring safe and comfortable interactions with human-driven vehicles (HDVs), particularly during lane-changing maneuvers. This paper…

The rapid advancements in autonomous vehicle (AV) technology promise enhanced safety and operational efficiency. However, frequent lane changes and merging maneuvers continue to pose significant safety risks and disrupt traffic flow. This…

Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…

Lane change (LC) is one of the safety-critical manoeuvres in highway driving according to various road accident records. Thus, reliably predicting such manoeuvre in advance is critical for the safe and comfortable operation of automated…

Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and…

This paper proposes a new strategy for collision avoidance system leveraging Time-to-Collision (TTC) metrics for handling cut-in scenarios, which are particularly challenging for autonomous vehicles (AVs). By integrating a deep learning…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidly changing tire-surface interactions. Unlike existing…

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

In order to minimize the impact of lane change (LC) maneuver on surrounding traffic environment, a hierarchical automatic LC algorithm that could realize local optimum has been proposed. This algorithm consists of a tactical layer planner…

Time-to-contact (TTC), the time for an object to collide with the observer's plane, is a powerful tool for path planning: it is potentially more informative than the depth, velocity, and acceleration of objects in the scene -- even for…

Accurately detecting and predicting lane change (LC)processes of human-driven vehicles can help autonomous vehicles better understand their surrounding environment, recognize potential safety hazards, and improve traffic safety. This paper…

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…

Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…

Lane-changing is an important driving behavior and unreasonable lane changes can result in potentially dangerous traffic collisions. Advanced Driver Assistance System (ADAS) can assist drivers to change lanes safely and efficiently. To…

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 racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…

The Potential Field (PF)-based path planning method is widely adopted for autonomous vehicles (AVs) due to its real-time efficiency and simplicity. PF often creates a rigid road boundary, and while this ensures that the ego vehicle…

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…

Numerous studies have shown the effectiveness of intelligent transportation system techniques such as variable speed limit (VSL), lane change (LC) control, and ramp metering (RM) in freeway traffic flow control. The integration of these…