Journal ArticleDOI
Safe driving envelopes for path tracking in autonomous vehicles
Reads0
Chats0
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
More filters
Proceedings ArticleDOI
Optimal Input Selection for Single Object Tracking using RGB-Thermal Camera
TL;DR: Multi-modal input through a combination of RGB and thermal images has been explored to overcome the weakness of a single modality input and indicates that an optimized slicing method to select the best pre-trained weights will produce a significant tracking improvement even if fewer input channels are used.
Journal ArticleDOI
Active Lane-Changing Control of Intelligent Vehicle on Curved Section of Expressway
TL;DR: In this article , an active lane-changing control algorithm is proposed considering the changes of road curvature and vehicle speed, and the trajectory tracking controller is designed by combining the inverted method to track the desired lane changing trajectory.
Journal ArticleDOI
Trajectory Planning and Control of Autonomous Vehicles for Static Vehicle Avoidance in Dynamic Traffic Environments
TL;DR: In this paper , a trajectory planning and control algorithm of autonomous vehicles for static traffic agent avoidance in multi-vehicle urban environments is presented, where a decision making and motion planning framework for static vehicle avoidance considering both the preceding static vehicles and surrounding vehicles is introduced.
Proceedings ArticleDOI
3D Object Tracking with Reduced Cumulative Error on Sparse Point Clouds
TL;DR: Zhang et al. as discussed by the authors proposed a Bayesian theorem-based 3D single-target tracking algorithm to improve the subsequent tracking performance by reducing the cumulative error caused by low-quality prior information.
Journal ArticleDOI
Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles
Tian Tian,Gang Li,Ning Li +2 more
TL;DR: In this paper , the authors studied the fault tolerance of the steering system of a fully line-controlled distributed drive electric vehicle with four-wheel independent drive, dependent braking and dependent steering.
References
More filters
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.