... Dynamics, Autonomous Driving 1. INTRODUCTION NOMENCLATURE Autonomous navigation is mainly composed of two techni- cal components: path planning and path tracking and execution. System States and Actions Path planning determines the optimal path of the vehicle toward 1 cross track error with respect to path...

... Braking System (EBS) for autonomous racing vehicles. The purpose of the system is safely stopping the vehicle in case of any failures during autonomous driving. Failures can be detected both by the autonomous system itself and by human supervisors. The actuation system involves passive energy storage...

... computation and the Urban Challenge have motivated the engineering of a trajectory that could be feasible in autonomous driving. The community to design autonomous vehicles for urban or vehicle is considered as a three Degree-of-Freedom bicycle unstructured scenarios [1][2]. Moreover, Autonomous Vehicles...

.... The method is validated experimentally on a four-wheel drive electric vehicle participating in the Formula SAE events. The validation environment is structured with traffic cones to define the race track. autonomous driving road boundaries estimation clustering hierarchical clustering k-means...

... driving autonomous driving passenger comfort MPC COMFORT-ORIENTED DESIGN OF MODEL PREDICTIVE CONTROL IN ASSISTED AND AUTONOMOUS DRIVING Sara Luciani1, Angelo Bonfitto, Nicola Amati, Andrea Tonoli Politecnico di Torino2 Torino, Italy ABSTRACT This paper presents a method based on a Model Predictive...

...Abstract Abstract This paper presents a controller dedicated to the lateral and longitudinal vehicle dynamics control for autonomous driving. The proposed strategy exploits a Model Predictive Control strategy to perform lateral guidance and speed regulation. To this end, the algorithm controls...

...Abstract Abstract This paper presents a technique based on the probabilistic road map algorithm for trajectory planning in autonomous driving. The objective is to provide an algorithm allowing to compute the trajectory of the vehicle by reducing the distance traveled and minimizing the lateral...

... algorithm takes the road lane boundaries as the only external input. The proposed strategy is validated in simulation on three distinct driving scenarios. autonomous driving MPC PID lane keeping assist COMBINED LANE KEEPING AND LONGITUDINAL SPEED CONTROL FOR AUTONOMOUS DRIVING Stefano Feraco1...