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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…

For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…

Autonomous driving has a significant impact on society. Predicting vehicle trajectories, specifically, angle and speed, is important for safe and comfortable driving. This work focuses on fusing inputs from camera sensors and visual map…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…

Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…

This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

Lane change assistance system increase safety by providing warnings and other stability assistance to drivers to avert traffic dangers. In this contribution, lane change intention recognition was performed and applied to generate warnings…

The rise of vehicle automation has generated significant interest in the potential role of future automated vehicles (AVs). In particular, in highly dense traffic settings, AVs are expected to serve as congestion-dampeners, mitigating the…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…

Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…

Recently, autonomous driving development ignited competition among car makers and technical corporations. Low-level automation cars are already commercially available. But high automated vehicles where the vehicle drives by itself without…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

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…