相关论文: Courteous MPC for Autonomous Driving with CBF-insp…

This paper develops a stochastic and unifying framework to examine variability in car-following (CF) dynamics of commercial automated vehicles (AVs) and its direct relation to traffic-level dynamics. The asymmetric behavior (AB) model by…

Trust is essential for automated vehicles (AVs) to promote and sustain technology acceptance in human-dominated traffic scenarios. However, computational trust dynamic models describing the interactive relationship between the AVs and…

The adoption of self-driving cars will certainly revolutionize our lives, even though they may take more time to become fully autonomous than initially predicted. The first vehicles are already present in certain cities of the world, as…

This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…

Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…

In this paper, we propose a Q-learning based decision-making framework to improve the safety and efficiency of Autonomous Vehicles when they encounter other maliciously behaving vehicles while passing through unsignalized intersections. In…

This paper presents a cognitive behavioral-based driver mood repairment platform in intelligent transportation cyber-physical systems (IT-CPS) for road safety. In particular, we propose a driving safety platform for distracted drivers,…

Connected autonomous vehicles (CAVs), which represent a significant advancement in autonomous driving technology, have the potential to greatly increase traffic safety and efficiency through cooperative decision-making. However, existing…

With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…

The increasing integration of automation in vehicles aims to enhance both safety and comfort, but it also introduces new risks, including driver disengagement, reduced situation awareness, and mode confusion. In this work, we propose the…

In the era of rapid advancements in vehicle safety technologies, driving risk assessment has become a focal point of attention. Technologies such as collision warning systems, advanced driver assistance systems (ADAS), and autonomous…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…

Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…

This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…

We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as…

Autonomous vehicles have to navigate the surrounding environment with partial observability of other objects sharing the road. Sources of uncertainty in autonomous vehicle measurements include sensor fusion errors, limited sensor range due…

This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…