相关论文: Parameter Tuning Under Uncertain Road Perception i…

This paper presents the design of a tune-free (human-out-of-the-loop parameter tuning) control framework, aiming at accelerating large scale autonomous driving system deployed on various vehicles and driving environments. The framework…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

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…

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…

Automatic performance tuning (auto-tuning) is widely used to optimize performance-critical applications across many scientific domains by finding the best program variant among many choices. Efficient optimization algorithms are crucial for…

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…

This paper revisits the fundamental mathematics of Taylor series to approximate curves with function representation and arc-length-based parametric representation. Parametric representation is shown to preserve its form in coordinate…

Interactive applications incorporating high-data rate sensing and computer vision are becoming possible due to novel runtime systems and the use of parallel computation resources. To allow interactive use, such applications require careful…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…

Road condition is an important environmental factor for autonomous vehicle control. A dramatic change in the road condition from the nominal status is a source of uncertainty that can lead to a system failure. Once the vehicle encounters an…

This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…

For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…

High-dimensional predictive models, those with more measurements than observations, require regularization to be well defined, perform well empirically, and possess theoretical guarantees. The amount of regularization, often determined by…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…

This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…

Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to…