相关论文: Exploratory Driving Performance and Car-Following …
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of inexpensive, passive floating sensors known as drifters.…
According to data from the United Nations, more than 3000 people have died each day in the world due to road traffic collision. Considering recent researches, the human error may be considered as the main responsible for these fatalities.…
Urban traffic state estimation is pivotal in furnishing precise and reliable insights into traffic flow characteristics, thereby enabling efficient traffic management. Traditional traffic estimation methodologies have predominantly hinged…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
With continuous advancements in science and technology, there is increasing focus on environmental sustainability, leading to heightened interest in autonomous electric vehicles (AEVs). AEVs hold significant potential for enhancing electric…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
Automated driving systems (ADS) are expected to be reliable and robust against a wide range of driving scenarios. Their decisions, first and foremost, must be well understood. Understanding a decision made by ADS is a great challenge,…
Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…
Traffic simulation models have long been popular in modern traffic planning and operation applications. Efficient calibration of simulation models is usually a crucial step in a simulation study. However, traditional calibration procedures…
We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long…
During the use of Advanced Driver Assistance Systems (ADAS), drivers can intervene in the active function and take back control due to various reasons. However, the specific reasons for driver-initiated takeovers in naturalistic driving are…
Near the limits of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and accurate modelling in this region could improve safety, especially in emergency situations where high forces are required. To…
Advanced driver assistance systems (ADAS) are designed to improve vehicle safety. However, it is difficult to achieve such benefits without understanding the causes and limitations of the current ADAS and their possible solutions. This…
Pedestrian fatalities continue to rise in the United States, driven by factors such as human distraction, increased vehicle size, and complex traffic environments. Advanced Driver Assistance Systems (ADAS) offer a promising avenue for…
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,…
Solar vehicles, which simultaneously produce and consume energy, require meticulous energy management. However, potential users often feel uncertain about their operation compared to conventional vehicles. This study presents a simulator…
A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…