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In a VANET (Vehicular Ad Hoc Network), the collisions caused by vehicles' mobility lead to poor network performance, especially in high-density network. In order to increase the flexibility of communication, this paper presents a communication protocol with dynamic choosing relay node and automatic cooperative communication called VC-TDMA (Vehicular Cooperative TDMA). The nodes can choose the multi-hop...
This paper focuses on the real-time trajectory planning problem for autonomous vehicles driving in realistic urban environments. To solve the complex navigation problem, we adopt a hierarchical motion planning framework. First, a rough reference path is extracted from the digital map using commands from the high-level behavioral planner. The conjugate gradient nonlinear optimization algorithm and...
Next-generation autonomous and semi-autonomous vehicles will not only precept the environment with their own sensors, but also communicate with other vehicles and surrounding infrastructures for vehicle safety and transportation efficiency. The design, analysis and validation of various vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) applications involve multiple layers, from V2V/V2I...
In this paper, a state space sampling-based local trajectory generation framework for autonomous vehicles driving along a reference path is proposed. The presented framework employs a two-step motion planning architecture. In the first step, a Support Vector Machine based approach is developed to refine the reference path through maximizing the lateral distance to boundaries of the constructed corridor...
Due to the highly non-linear properties of the longitudinal dynamics of autonomous land vehicles (ALVs), it is difficult to tune the parameters of a speed controller for the autonomous driving of ALVs. Aiming at this problem, in this paper, a novel learning-Based speed controller is proposed, which is composed of a time-varying proportional-integral (PI) control structure and a learning-Based learning...
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