相关论文: Efficient and Safe Planner for Automated Driving o…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
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…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…
This paper considers the problem of scheduling autonomous vehicles in intersections. A new system is proposed that could be an additional choice to the recently introduced Autonomous Intersection Management (AIM) model. The proposed system…
Autonomous vehicle (AV) planners must undergo rigorous evaluation before widespread deployment on public roads, particularly to assess their robustness against the uncertainty of human behaviors. While recent advancements in data-driven…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…
Our current transportation system suffers from a number of problems in terms of safety, mobility, and environmental sustainability. The emergence of innovative intelligent transportation systems (ITS) technologies, and in particular…
Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…
In this paper, we develop a non-uniform sampling approach for fast and efficient path planning of autonomous vehicles. The approach uses a novel non-uniform partitioning scheme that divides the area into obstacle-free convex cells. The…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…