Journal ArticleDOI
Safe driving envelopes for path tracking in autonomous vehicles
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TLDR
In this paper, an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC) is presented. But the controller is not designed for autonomous vehicles.About:
This article is published in Control Engineering Practice.The article was published on 2017-04-01. It has received 259 citations till now. The article focuses on the topics: Obstacle avoidance & Control theory.read more
Citations
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Journal ArticleDOI
Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory
TL;DR: Simulation and experimental results indicate that the proposed control strategy based on preview characteristics can effectively improve the tracking stability performance of intelligent electric vehicles.
Proceedings ArticleDOI
GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles
TL;DR: In this article , a parallel computing framework for iterative linear quadratic regulator (iLQR) with input constraints considering the characteristics of the problem and a proper environmental formulation that can be covered with single-precision floating-point computation of the GPU.
Journal ArticleDOI
Path tracking control of an autonomous vehicle with model-free adaptive dynamic programming and RBF neural network disturbance compensation:
TL;DR: Hardware in the loop (HIL) test results demonstrate that the proposed ADP-RBF controller can improve the comprehensive performance of the vehicle path tracking control system and achieve the balance between path tracking accuracy and minimum sideslip angle.
Journal ArticleDOI
Coordinated Attitude Control of Longitudinal, Lateral and Vertical Tyre Forces for Electric Vehicles Based on Model Predictive Control
TL;DR: In this article , a novel longitudinal, lateral, and vertical integrated stability control system is proposed for distributed electric vehicle in order to solve the control objective conflict of cooperative motion control subsystems and the interference of the actuators compared to distributed control system.
Proceedings ArticleDOI
GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles
TL;DR: In this article , a parallel computing framework for iterative linear quadratic regulator (iLQR) with input constraints considering the characteristics of the problem and a proper environmental formulation that can be covered with single-precision floating-point computation of the GPU.
References
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Book
Digital control of dynamic systems
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Book
Tyre and vehicle dynamics
TL;DR: In this article, the wheel-shimmy phenomenon is considered in the context of dynamic tire testing and tire characteristics and vehicle handling and stability, and a variety of models are proposed.
Journal ArticleDOI
Stanley: The Robot that Won the DARPA Grand Challenge
Sebastian Thrun,Michael Montemerlo,Hendrik Dahlkamp,David Stavens,Andrei Aron,James Diebel,Philip Fong,John Gale,Morgan Halpenny,Gabriel M. Hoffmann,Kenny Lau,Celia M. Oakley,Mark Palatucci,Vaughan R. Pratt,Pascal Stang,Sven Strohband,Cedric Dupont,Lars-Erik Jendrossek,Christian Koelen,Charles Markey,Carlo Rummel,Joe van Niekerk,Eric Jensen,Philippe Alessandrini,Gary Bradski,Bob Davies,Scott M. Ettinger,Adrian Kaehler,Ara V. Nefian,Pamela Mahoney +29 more
TL;DR: The robot Stanley, which won the 2005 DARPA Grand Challenge, was developed for high‐speed desert driving without manual intervention and relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning.
Book
Tire and Vehicle Dynamics
TL;DR: Pacejka's model is the subject of continued development, particularly in extending its validity range to modelling higher frequencies and short wavelength obstacles and testing, which are covered in new chapters in the 2nd edition.
Journal ArticleDOI
CVXGEN: a code generator for embedded convex optimization
Jacob Mattingley,Stephen Boyd +1 more
TL;DR: This paper describes how CVXGEN is implemented, and gives some results on the speed and reliability of the automatically generated solvers.