Trix-AD

A Unified Kinematic Model + Explainable 3D Q-Learning Framework

One single equation → Parallel Parking as well as overtaking

First paper of the Trix Series in preparation for IEEE Transactions on Intelligent Vehicles – 2026 First-round decision expected: early 2026 Full source code will be released immediately upon acceptance of all Trix Series.

Key Features

• Single kinematic formulation covering all parking maneuvers + overtaking
• Guided 3D Q-Learning with hierarchical 8-cube exhaustive search
• Average convergence in under 40 episodes
• Real-time inference (< 15 ms on CPU)
• Full 3D mechanical simulation in Webots with accurate BMW i3 dynamics
• Successfully parks on both left and right sides of the road

Map parser → parking slot detection → α-space search → spatial path generation → Webots controller → trajectory validation

Results (Webots R2023b)

Test_Parking_3DQ_Bagheri.mp4

Left_Parking_3DQ.mp4

Right_Parking_3DQ.mp4

* Three videos showcase real-time Trix Capability

Project Status

• v1.0.0: parking-only baseline documented and validated
• feature/overtaking: under active development in the private code repository
• Public repository currently contains documentation, media, and selected reproducible assets
• Full research code will be released after publication or upon collaboration agreement

Coming Soon

• Trix-Overtaking (manuscript in preparation as well as Trix as a compelete work package)
• Real-world deployment on full-scale autonomous vehicle (LiDAR + camera + ultrasonics)
• ROS 2 + NVIDIA Jetson implementation

Author

A. Bagheri B.Sc. Mechanical Engineering & Computer Engineering – Iran University of Science and Technology, 2026

GitHub: @aibgr | LinkedIn: @aibgr

Supervisor: Dr. Seyed Hassan Zabihifar – Iran University of Science and Technology

If you find this work useful, please give it a ⭐ Full source code will be made public immediately after publication of the Trix series.

More exciting updates coming very soon!