10 papers
Hybrid A*-Based Reverse Path-Planning of a Vehicle with Trailer System
Xincheng Cao, Haochong Chen, Bilin Aksun-Guvenc +6
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive contro…
High Order Control Lyapunov Function - Control Barrier Function - Quadratic Programming Based Autonomous Driving Controller for Bicyclist Safety
Haochong Chen, Xincheng Cao, Levent Guvenc +1
Ensuring the safety of Vulnerable Road Users (VRUs) is a critical challenge in the development of advanced autonomous driving systems in smart cities. Among vulnerable road users,…
Modified Hybrid A* Collision-Free Path-Planning for Automated Reverse Parking
Xincheng Cao, Haochong Chen, Bilin Aksun-Guvenc +1
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this…
Delay Tolerant Control for Autonomous Driving Using CDOB
Xincheng Cao, Haochong Chen, Levent Guvenc +1
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scena…
Nonlinear Model Predictive Control-Based Reverse Path-Planning and Path-Tracking Control of a Vehicle with Trailer System
Xincheng Cao, Haochong Chen, Bilin Aksun-Guvenc +6
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls req…
Vehicle-in-Virtual-Environment (VVE) Method for Developing and Evaluating VRU Safety of Connected and Autonomous Driving with Focus on Bicyclist Safety
Haochong Chen, Xincheng Cao, Bilin Aksun-Guvenc +1
Extensive research has already been conducted in the autonomous driving field to help vehicles navigate safely and efficiently. At the same time, plenty of current research on vuln…
Development of an Advisory System for Parking of a Car and Trailer
Xincheng Cao, Haochong Chen, Bilin Aksun Guvenc +6
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to acc…
Vehicle-in-Virtual-Environment (VVE) Based Autonomous Driving Function Development and Evaluation Methodology for Vulnerable Road User Safety
Haochong Chen, Xincheng Cao, Levent Guvenc +1
Traditional methods for developing and evaluating autonomous driving functions, such as model-in-the-loop (MIL) and hardware-in-the-loop (HIL) simulations, heavily depend on the ac…
Path Planning and Robust Path Tracking Control of an Automated Parallel Parking Maneuver
Xincheng Cao, Levent Guvenc
Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver lice…
Vehicle-in-Virtual-Environment Method for ADAS and Connected and Automated Driving Function Development/Demonstration/Evaluation
Xincheng Cao, Haochong Chen, Bilin Aksun-Guvenc +1
The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road te…