Lane-change in dense traffic with model predictive control and neural networks
This article presents an online smooth-path lane-change control framework. We focus on
dense traffic where intervehicle space gaps are narrow, and cooperation with surrounding …
dense traffic where intervehicle space gaps are narrow, and cooperation with surrounding …
Active uncertainty reduction for human-robot interaction: An implicit dual control approach
The ability to accurately predict human behavior is central to the safety and efficiency of
robot autonomy in interactive settings. Unfortunately, robots often lack access to key …
robot autonomy in interactive settings. Unfortunately, robots often lack access to key …
Optimal control-based highway pilot motion planner with stochastic traffic consideration
This research proposes an optimal control-based motion planner with consideration of the
stochasticity of surrounding human-driven vehicles (HVs). The proposed motion planner is …
stochasticity of surrounding human-driven vehicles (HVs). The proposed motion planner is …
Overtaking decision and trajectory planning in highway via hierarchical architecture of conditional state machine and chance constrained model predictive control
An overtaking trajectory planning algorithm is an essential part of autonomous vehicles, but
maximizing trip efficiency (minimum travel time) while guaranteeing safety is non-trivial. In …
maximizing trip efficiency (minimum travel time) while guaranteeing safety is non-trivial. In …
Prediction based decision making for autonomous highway driving
Autonomous driving decision-making is a challenging task due to the inherent complexity
and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake …
and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake …
Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking
H Li, T Zheng, F Xia, L Gao, Q Ye, Z Guo - Scientific reports, 2022 - nature.com
This paper develops a novel integrated collision avoidance strategy for autonomous
vehicles in an emergency based on steering and braking. Specifically, the framework of the …
vehicles in an emergency based on steering and braking. Specifically, the framework of the …
On integrating POMDP and scenario MPC for planning under uncertainty–with applications to highway driving
CH Ulfsjöö, D Axehill - 2022 IEEE Intelligent Vehicles …, 2022 - ieeexplore.ieee.org
Motion planning and decision-making while considering uncertainty is critical for an
autonomous vehicle to safely and efficiently drive on a highway. This paper presents a new …
autonomous vehicle to safely and efficiently drive on a highway. This paper presents a new …
Autonomous vehicle overtaking in a bidirectional mixed-traffic setting
With the advent of autonomous vehicles on public roads imminent in the near future, special
emphasis needs to be placed on addressing scenarios pertaining to mixed-traffic settings …
emphasis needs to be placed on addressing scenarios pertaining to mixed-traffic settings …
[PDF][PDF] Active uncertainty learning for human-robot interaction: An implicit dual control approach
Predictive models are effective in reasoning about human motion, a crucial part that affects
safety and efficiency in human-robot interaction. However, robots often lack access to certain …
safety and efficiency in human-robot interaction. However, robots often lack access to certain …
Cooperative weaving for connected and automated vehicles to reduce traffic oscillation
In weaving areas, vehicles frequently carry out conflicting lane-changing manoeuvres. The
frequent lane change in this area results in rapid changes in vehicles' speed, which in turn …
frequent lane change in this area results in rapid changes in vehicles' speed, which in turn …