Throughout the last century, the automobile industry achieved remarkable milestones in manufacturing reliable, safe, and affordable vehicles. Because of significant recent advances in computation and communication technologies, autonomous cars are becoming a reality. Already autonomous car prototype models have covered millions of miles in test driving. Leading technical companies and car manufacturers have invested a staggering amount of resources in autonomous car technology, as they prepare for autonomous cars’ full commercialization in the coming years. However, to achieve this goal, several technical and nontechnical issues remain: software complexity, real-time data analytics, and testing and verification are among the greater technical challenges; and consumer stimulation, insurance management, and ethical/moral concerns rank high among the nontechnical issues. Tackling these challenges requires thoughtful solutions that satisfy consumers, industry, and governmental requirements, regulations, and policies. Thus, here we present a comprehensive review of state-of-the-art results for autonomous car technology. We discuss current issues that hinder autonomous cars’ development and deployment on a large scale. We also highlight autonomous car applications that will benefit consumers and many other sectors. Finally, to enable cost-effective, safe, and efficient autonomous cars, we discuss several challenges that must be addressed (and provide helpful suggestions for adoption) by designers, implementers, policymakers, regulatory organizations, and car manufacturers.

Autonomous Cars: Research Results, Issues, and Future Challenges

Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles

Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits

This paper proposes an envelope control framework for four-wheel independently actuated autonomous ground vehicle (AGV) to regulate it on desired path and simultaneously control it to the driving limits. The envelope control framework is achieved based on the integrated control of active front-wheel steer and direct yaw-moment control. In a speed controller, the G-G diagram is used to describe the driving limits on each path segment. The desired traction and braking force is calculated according to the G-G diagram and desired path. In a path-following controller, a feedforward–feedback lateral controller is designed to calculate the desired steering angle to follow the desired path. In a yaw-moment controller, the β–r phase portraits are utilized to describe the handling limits. The yaw-moment controller aims at keeping the AGV from losing stability in limit driving, which is calculated through a sliding mode controller and provided by the independent motors actuation. Through an independent driving technique, the tyre cornering stiffness is estimated online based on the predefined Magic Formula model to improve the controller's robustness. An autonomous Formula Student racecar developed by the authors is used as testbed. The autonomous driving experiments on racetrack validate the efficiency of the proposed controller.

Envelope Control for Four-Wheel Independently Actuated Autonomous Ground Vehicle Through AFS/DYC Integrated Control

Increasing application areas and depths of autonomous systems in logistics provide a new level of challenge for the analysis and design of human–machine interaction concepts. Due to scarce high-ski...

https://www.tandfonline.com/doi/pdf/10.1080/13675567.2017.1384451

Automation and artificial intelligence in business logistics systems: human reactions and collaboration requirements

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

The unmanned ground vehicle is supposed to replace humans for various applications in both civilian and military area, including transport, delivery, shuttle, clean, patrol, scout, and battle. It h...

Jun Ni

Papers

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

A review for design and dynamics control of unmanned ground vehicle

Relaxed static stability for four-wheel independently actuated ground vehicle