A Planning-free Longitudinal Controller Design for Vehicles in Dynamic Traffic Environments

no code implementations • 25 Jun 2022 • Wubing B. Qin

This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios.

Representing Lanes as Arc-length-based Parametric Curves to Facilitate Estimation in Vehicle Control

no code implementations • 9 Jun 2022 • Wubing B. Qin

We applied the transformation to lane estimation in vehicle control problem, and derived the evolution of coefficients for parametric representation that can be used for prediction.

A Nonlinear Lateral Controller Design for Vehicle Path-following with an Arbitrary Sensor Location

no code implementations • 16 May 2022 • Wubing B. Qin, Zhaojian Li

This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis.

Nonholonomic dynamics and control of road vehicles: moving toward automation

no code implementations • 4 Aug 2021 • Wubing B. Qin, Yiming Zhang, Dénes Takács, Gábor Stépán, Gábor Orosz

The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics.