相关论文: Autonomous Vehicle front steering control computat…

Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…

Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…

Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…

Autonomous vehicles (AV) is an advanced technology that can bring convenience, improve the road-network throughput, and reduce traffic accidents. To enable higher levels of automation (LoA), massive amounts of sensory data need to be…

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…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…

This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…

In this tutorial, we detailed simple controllers for autonomous parking and path following for self-driving cars providing practical methods for curvature computation.

Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…

This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…

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 presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…