Collision avoidance and stabilization for autonomous vehicles in emergency scenarios
Emergency scenarios may necessitate autonomous vehicle maneuvers up to their handling
limits in order to avoid collisions. In these scenarios, vehicle stabilization becomes important …
limits in order to avoid collisions. In these scenarios, vehicle stabilization becomes important …
Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits
Parametric modeling uncertainties and unknown external disturbance are major concerns in
the development of advanced lateral motion controller for autonomous vehicle at the limits of …
the development of advanced lateral motion controller for autonomous vehicle at the limits of …
Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots
To operate with limited sensor horizons in unpredictable environments, autonomous robots
use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while …
use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while …
Robust MPC for tracking constrained unicycle robots with additive disturbances
Two robust model predictive control (MPC) schemes are proposed for tracking unicycle
robots with input constraint and bounded disturbances: tube-MPC and nominal robust MPC …
robots with input constraint and bounded disturbances: tube-MPC and nominal robust MPC …
Safe nonlinear trajectory generation for parallel autonomy with a dynamic vehicle model
High-end vehicles are already equipped with safety systems, such as assistive braking and
automatic lane following, enhancing vehicle safety. Yet, these current solutions can only …
automatic lane following, enhancing vehicle safety. Yet, these current solutions can only …
Parallel autonomy in automated vehicles: Safe motion generation with minimal intervention
Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane
following, are still only able to help in relatively simple driving situations. We introduce a …
following, are still only able to help in relatively simple driving situations. We introduce a …
Energy and flow effects of optimal automated driving in mixed traffic: Vehicle-in-the-loop experimental results
This paper experimentally demonstrates the effectiveness of an anticipative car-following
algorithm in reducing energy use of gasoline engine and electric Connected and Automated …
algorithm in reducing energy use of gasoline engine and electric Connected and Automated …
A non-optimization-based dynamic path planning for autonomous obstacle avoidance
This article presents a non-optimization-based framework for path planning and tracking for
evasive maneuvers in autonomous cars. The framework exploits a two-layer approach …
evasive maneuvers in autonomous cars. The framework exploits a two-layer approach …
Guaranteed safe reachability-based trajectory design for a high-fidelity model of an autonomous passenger vehicle
Trajectory planning is challenging for autonomous cars since they operate in unpredictable
environments with limited sensor horizons. To incorporate new information as it is sensed …
environments with limited sensor horizons. To incorporate new information as it is sensed …
[HTML][HTML] Lane-keeping control of automated vehicles with feedback delay: nonlinear analysis and laboratory experiments
The feedback control of automated lane-keeping of passenger cars is analyzed in this
paper. The calculations are based on the single-track vehicle model with the consideration …
paper. The calculations are based on the single-track vehicle model with the consideration …