Autonomous driving motion planning with constrained iterative LQR

J Chen, W Zhan, M Tomizuka - IEEE Transactions on Intelligent …, 2019 - ieeexplore.ieee.org
Motion planning is a core technique for autonomous driving. Nowadays, there still exists a
lot of challenges in motion planning for autonomous driving in complicated environments …

Personalized trajectory planning and control of lane-change maneuvers for autonomous driving

C Huang, H Huang, P Hang, H Gao… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
With the aims of safe, smart and sustainable future mobility, a personalized approach of
trajectory planning and control based on user preferences is developed for lane-change of …

NMPC trajectory planner for urban autonomous driving

F Micheli, M Bersani, S Arrigoni, F Braghin… - Vehicle system …, 2023 - Taylor & Francis
This paper presents a trajectory planner for autonomous driving based on a Nonlinear
Model Predictive Control (NMPC) algorithm that accounts for Pacejka's nonlinear lateral tyre …

Ethical decision making in autonomous vehicles: The AV ethics project

K Evans, N de Moura, S Chauvier, R Chatila… - … and engineering ethics, 2020 - Springer
The ethics of autonomous vehicles (AV) has received a great amount of attention in recent
years, specifically in regard to their decisional policies in accident situations in which human …

Bézier curve‐based trajectory planning for autonomous vehicles with collision avoidance

L Zheng, P Zeng, W Yang, Y Li… - IET Intelligent Transport …, 2020 - Wiley Online Library
This study proposes an effective trajectory planning algorithm based on the quartic Bézier
curve and dangerous potential field for automatic vehicles. To generate collision‐free …

A MPC combined decision making and trajectory planning for autonomous vehicle collision avoidance

M Ammour, R Orjuela, M Basset - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
Increasing focus is being paid to ensuring safety in autonomous driving. The current paper
addresses the challenge of collision avoidance with dynamic surrounding vehicles in …

Real-time motion planning approach for automated driving in urban environments

A Artunedo, J Villagra, J Godoy - IEEE Access, 2019 - ieeexplore.ieee.org
Autonomous vehicles must be able to react in a timely manner to typical and unpredictable
situations in urban scenarios. In this connection, motion planning algorithms play a key role …

Autonomous racing with multiple vehicles using a parallelized optimization with safety guarantee using control barrier functions

S He, J Zeng, K Sreenath - 2022 International conference on …, 2022 - ieeexplore.ieee.org
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 …

Human-machine cooperative trajectory planning and tracking for safe automated driving

C Huang, H Huang, J Zhang, P Hang… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
This paper investigates a human-machine cooperative trajectory planning and tracking
control approach for automated vehicles. The proposed method is developed based on a …

Trajectory prediction-based local spatio-temporal navigation map for autonomous driving in dynamic highway environments

M Fu, T Zhang, W Song, Y Yang… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Autonomous driving, including intelligent decision-making and path planning, in dynamic
environments (like highway) is significantly more difficult than the navigation in static …