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The phase-field approach to fracture has been proven to be a mathematically sound and easy to implement method for computing crack propagation with arbitrary crack paths. Hereby crack growth is driven by energy minimization resulting in a…
Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based formal approaches have been developed to ensure driving safety,…
Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…
In conditional automation, a response from the driver is expected when a take over request is issued due to unexpected events, emergencies, or reaching the operational design domain boundaries. Cooperation between the automated driving…
This paper presents a research devoted to the study of instability phenomena in non-linear model with a constant brake friction coefficient. This paper outlines the stability analysis and a procedure to reduce and simplify the non-linear…
Flexible road pavements deteriorate primarily due to traffic and adverse environmental conditions. Cracking is the most common deterioration mechanism; the surveying thereof is typically conducted manually using internationally defined…
Autonomous race cars require perception, estimation, planning, and control modules which work together asynchronously while driving at the limit of a vehicle's handling capability. A fundamental challenge encountered in designing these…
In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…
Understanding the mechanisms responsible for the emergence and evolution of oscillations in traffic flow has been subject to intensive research by the traffic flow theory community. In our previous work, we proposed a new mechanism to…
The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
With the advent of self-driving cars and autonomous robots, it is imperative to detect road impairments like cracks and potholes and to perform necessary evading maneuvers to ensure fluid journey for on-board passengers or equipment. We…
Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…
In recent years, Electric Vehicles (EVs) have seen widespread public adoption. While EVs produce zero tailpipe emissions, they contribute to an increase in another type of vehicular emission: tire emissions. Battery-operated EVs are…
In this work, we study estimation problems in nonlinear mechanical systems subject to non-stationary and unknown excitation, which are common and critical problems in design and health management of mechanical systems. A primary-auxiliary…
The motion of an elastic body over a rough surface is simulated in one dimension using Newtonian dynamics. We drive the body by prescribing a constant velocity. We extract the friction force from the work done by the applied force in order…
Minimising opposing forces is a matter of interest to most cyclists. These forces arise from passage through air ("drag") and interaction with the road surface ("resistance"). Recent work recognises that resistance forces arise not only…
Accurately estimating spatiotemporal traffic states on freeways is a significant challenge due to limited sensor deployment and potential data corruption. In this study, we propose an efficient and robust low-rank model for precise…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…