Lateral and Longitudinal Motion Control of Autonomous Vehicles using Deep Learning

2019 ◽  
Author(s):  
Shobit Sharma ◽  
Girma Tewolde ◽  
Jaerock Kwon
Keyword(s):  
Deep Learning ◽  
Motion Control ◽  
Autonomous Vehicles ◽  
Longitudinal Motion

scholarly journals Design, Validation and Comparison of Path Following Controllers for Autonomous Vehicles

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6052
Author(s):  
Xing Yang ◽  
Lu Xiong ◽  
Bo Leng ◽  
Dequan Zeng ◽  
Guirong Zhuo
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
Longitudinal Motion ◽  
Speed Tracking ◽  
Disturbance Rejection Control ◽  
Pure Pursuit ◽  
Future Direction

As one of the core issues of autonomous vehicles, vehicle motion control directly affects vehicle safety and user experience. Therefore, it is expected to design a simple, reliable, and robust path following the controller that can handle complex situations. To deal with the longitudinal motion control problem, a speed tracking controller based on sliding mode control with nonlinear conditional integrator is proposed, and its stability is proved by the Lyapunov theory. Then, a linear parameter varying model predictive control (LPV-MPC) based lateral controller is formulated that the optimization problem is solved by CVXGEN. The nonlinear active disturbance rejection control (ADRC) method is applied to the second lateral controller that is easy to be implemented and robust to parametric uncertainties and disturbances, and the pure pursuit algorithm serves as a benchmark. Simulation results in different scenarios demonstrate the effectiveness of the proposed control schemes, and a comparison is made to highlight the advantages and drawbacks. It can be concluded that the LPV-MPC has some trouble to handle uncertainties while the nonlinear ADRC performs slight worse tracking but has strong robustness. With the parallel development of the control theory and computing power, robust MPC may be the future direction.

Integrated longitudinal and lateral control for autonomous vehicles with active load transfer strategy at the handling limits

2020 ◽  
pp. 095440702097425
Author(s):  
Lu Xiong ◽  
Xing Yang ◽  
Bo Leng ◽  
Renxie Zhang ◽  
Zhiqiang Fu ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Load Transfer ◽  
Autonomous Vehicle ◽  
Longitudinal Motion ◽  
Parameter Uncertainties ◽  
Fast Tracking ◽  
Active Load ◽  
Lateral Response ◽  
Tire Forces

In order to avoid collisions in emergency conditions, the autonomous vehicle may be necessitated to maneuvers up to their handling limits. In these scenarios, the vehicle must be able to react quickly although the longitudinal and lateral coupled and nonlinear dynamics are significantly enhanced. To improve the accuracy of trajectory tracking and vehicle stability at the handling limits, this paper presents a hierarchical motion control framework that prioritizing lateral response. For lateral motion control, a nested architecture that consists of lateral deviation control and yaw rate control is designed considering parameter uncertainties. In longitudinal motion controller, the constraints of longitudinal tire forces are calculated on the premise of meeting steering demand. On this basis, an active load transfer strategy is proposed to optimize the steering response, which increasing the lateral stiffness of the front wheels through load transfer generated by active braking. Meanwhile, a longitudinal speed control algorithm considering the longitudinal acceleration demand is developed based on conditional integral method, to cope with the contradiction between fast tracking and small overshoot. Finally, experimental results in different scenarios demonstrate that the autonomous vehicle with the proposed control scheme can track the desired trajectory stably and accurately at the handling limits.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

scholarly journals On the Performance of One-Stage and Two-Stage Object Detectors in Autonomous Vehicles Using Camera Data

2020 ◽  
Vol 13 (1) ◽  
pp. 89
Author(s):  
Manuel Carranza-García ◽  
Jesús Torres-Mateo ◽  
Pedro Lara-Benítez ◽  
Jorge García-Gutiérrez
Keyword(s):  
Deep Learning ◽  
Real Time ◽  
Autonomous Vehicles ◽  
Remote Sensing Data ◽  
Autonomous Driving ◽  
Two Stage ◽  
Detection Systems ◽  
One Stage ◽  
Time Requirements ◽  
Speed Accuracy

Object detection using remote sensing data is a key task of the perception systems of self-driving vehicles. While many generic deep learning architectures have been proposed for this problem, there is little guidance on their suitability when using them in a particular scenario such as autonomous driving. In this work, we aim to assess the performance of existing 2D detection systems on a multi-class problem (vehicles, pedestrians, and cyclists) with images obtained from the on-board camera sensors of a car. We evaluate several one-stage (RetinaNet, FCOS, and YOLOv3) and two-stage (Faster R-CNN) deep learning meta-architectures under different image resolutions and feature extractors (ResNet, ResNeXt, Res2Net, DarkNet, and MobileNet). These models are trained using transfer learning and compared in terms of both precision and efficiency, with special attention to the real-time requirements of this context. For the experimental study, we use the Waymo Open Dataset, which is the largest existing benchmark. Despite the rising popularity of one-stage detectors, our findings show that two-stage detectors still provide the most robust performance. Faster R-CNN models outperform one-stage detectors in accuracy, being also more reliable in the detection of minority classes. Faster R-CNN Res2Net-101 achieves the best speed/accuracy tradeoff but needs lower resolution images to reach real-time speed. Furthermore, the anchor-free FCOS detector is a slightly faster alternative to RetinaNet, with similar precision and lower memory usage.

Deep learning based Blockchain solution for preserving privacy in future vehicles

2020 ◽  
pp. 1-14
Author(s):  
Varsha R ◽  
Meghna Manoj Nair ◽  
Siddharth M. Nair ◽  
Amit Kumar Tyagi
Keyword(s):  
Deep Learning ◽  
Autonomous Vehicles ◽  
Recommendation System ◽  
Privacy Preserving ◽  
Smart Devices ◽  
The Road ◽  
Blockchain Technology ◽  
Technological Advances ◽  
Previous Decade ◽  
Smart Things

The Internet of Things (smart things) is used in many sectors and applications due to recent technological advances. One of such application is in the transportation system, which is of primary use for the users to move from one place to another place. The smart devices which were embedded in vehicles are useful for the passengers to solve his/her query, wherein future vehicles will be fully automated to the advanced stage, i.e. future cars with driverless feature. These autonomous cars will help people a lot to reduce their time and increases their productivity in their respective (associated) business. In today’s generation and in the near future, privacy preserving and trust will be a major concern among users and autonomous vehicles and hence, this paper will be able to provide clarity for the same. Many attempts in previous decade have provided many efficient mechanisms, but they all work only with vehicles along with a driver. However, these mechanisms are not valid and useful for future vehicles. In this paper, we will use deep learning techniques for building trust using recommender systems and Blockchain technology for privacy preserving. We also maintain a certain level of trust via maintaining the highest level of privacy among users living in a particular environment. In this research, we developed a framework that could offer maximum trust or reliable communication to users over the road network. With this, we also preserve privacy of users during traveling, i.e., without revealing identity of respective users from Trusted Third Parties or even Location Based Service in reaching a destination. Thus, Deep Learning based Blockchain Solution (DLBS) is illustrated for providing an efficient recommendation system.

An Enhanced Multi-Stage Deep Learning Framework for Detecting Malicious Activities From Autonomous Vehicles

2021 ◽  
pp. 1-10
Author(s):  
Izhar Ahmed Khan ◽  
Nour Moustafa ◽  
Dechang Pi ◽  
Waqas Haider ◽  
Bentian Li ◽  
...  
Keyword(s):  
Deep Learning ◽  
Autonomous Vehicles ◽  
Learning Framework ◽  
Multi Stage
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