Research

Research Areas

Control, planning, and learning for autonomous driving, drifting, and racing at the limits of handling.

Automated parking trajectory planning overview

Driving

Trajectory planning and control for automated parking, yaw stability, cooperative localization, and distributed vehicle platoons.

Guaranteed collision-free planning
Two-layer learning MPC for yaw stability
Gaussian-process dynamics for platoon control

Drifting

Controllers and planners for aggressive cornering, inertia drift, and safety-aware operation near tire-force limits.

Learning-based hierarchical MPC
Sparse Gaussian-process control strategies
Safety-filtered reinforcement learning

Racing

High-performance racing systems with local trajectory planning, velocity prediction, overtaking, and onboard adaptation.

Curvature-integrated MPCC
Fast and safe data-driven overtaking
F1TENTH competition validation

System Stack

An integrated loop from equations to experiments.

Vehicle Dynamicstire forces, residual models, uncertainty

Trajectory OptimizationMPC, MPCC, iLQR, safety filters

LearningGP dynamics, RL, onboard adaptation

Real-Time Systemsstate machines, perception, mapping

PlatformsF1TENTH, scaled vehicles, simulation

Benchmarkslap time, safety, robustness, transfer

Videos

Open demonstrations from ZJU-DDRX.

Dec 15, 2025

Open-source Algorithm: MCTR In Autonomous Racing

A LiDAR-based end-to-end control demonstration for autonomous racing, including simulator-based track mapping and digital-twin validation. Code is available from the ZJU-DDRX GitHub organization.

Watch on Bilibili Code

Nov 1, 2025

Slip Inducing Test

A vehicle experiment video from ZJU-DDRX, showing platform behavior around slip-inducing maneuvers for aggressive autonomous driving research.

Watch on Bilibili