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eess.SY2025
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,…
eess.SY2025
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…
eess.SY2025
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…