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
Journal ArticleDOI
Self-driving cars: A survey
Claudine Badue,Rânik Guidolini,Raphael V. Carneiro,Pedro Azevedo,Vinicius B. Cardoso,Avelino Forechi,Luan F. R. Jesus,Rodrigo F. Berriel,Thiago M. Paixão,Filipe Mutz,Lucas de Paula Veronese,Thiago Oliveira-Santos,Alberto F. De Souza +12 more
TL;DR: A detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espirito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA), is presented.
Journal ArticleDOI
Control of connected and automated vehicles: State of the art and future challenges
TL;DR: In this paper, the authors introduce a control and planning architecture for CAVs, and surveys the state of the art on each functional block therein; the main focus is on techniques to improve energy efficiency.
Journal ArticleDOI
Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios
TL;DR: A new control structure is presented that integrates path tracking, vehicle stabilization, and collision avoidance and mediates among these sometimes conflicting objectives by prioritizing collision avoidance.
Journal ArticleDOI
Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Journal ArticleDOI
Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits
TL;DR: Simulation and experiment results show that the proposed control strategy can robustly track the reference path and at the same time maintains the yaw stability of vehicle at or near the physical limits of tyre friction.
References
More filters
Dissertation
Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge
Proceedings ArticleDOI
Incorporating non-linear tire dynamics into a convex approach to shared steering control
TL;DR: Online successive linearizations of the future planned vehicle trajectory approximates non-linear dynamics in a real-time, model predictive controller that shares control with a human driver to illustrate interesting interactions between the sometimes competing objectives of vehicle stability and collision avoidance.
Proceedings ArticleDOI
Generating a Racing Line for an Autonomous Racecar Using Professional Driving Techniques
TL;DR: In this paper, the differences between two phase and three phase corners described by professional drivers can be easily captured and analyzed in a single parameter by comparing different members of a family of simple curves including straights, clothoids, and constant radius arcs.
Journal IssueDOI
A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA Grand Challenges
James R. McBride,Jerome Charles Ivan,Doug Scott Rhode,Jeffrey Dan Rupp,Matthew Y. Rupp,Jeffrey D. Higgins,Doug D. Turner,Ryan M. Eustice +7 more
TL;DR: How the development of future automotive safety systems can potentially be accelerated by tackling the technological challenges of autonomous ground vehicle robotics is elucidated.