Related papers: Tire Slip Angle Estimation based on the Intelligen…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…
This paper considers an angle-domain intelligent reflecting surface (IRS) system. We derive maximum likelihood (ML) estimators for the effective angles from the base station (BS) to the user and the effective angles of propagation from the…
Sideslip angle is an important variable for understanding and monitoring vehicle dynamics but it lacks an inexpensive method for direct measurement. Therefore, it is typically estimated from inertial and other proprioceptive sensors onboard…
Traction parameters, that characterize the ground-wheel contact dynamics, are the central factor in the energy efficiency of vehicles. To optimize fuel consumption, reduce wear of tires, increase productivity etc., knowledge of current…
This paper discusses the image processing and computer vision algorithms for real time detection and tracking of a sample wheel of a vehicle. During the manual tyre changing process, spinal and other muscular injuries are common and even…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
Full-field traffic state information (i.e., flow, speed, and density) is critical for the successful operation of Intelligent Transportation Systems (ITS) on freeways. However, incomplete traffic information tends to be directly collected…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Road transportation is of critical importance for a nation, having profound effects in the economy, the health and life style of its people. With the growth of cities and populations come bigger demands for mobility and safety, creating new…
Estimating the probability of failures or accidents with aerospace systems is often necessary when new concepts or designs are introduced, as it is being done for Autonomous Aircraft. If the design is safe, as it is supposed to be, accident…
Accident detection and traffic analysis is a critical component of smart city and autonomous transportation systems that can reduce accident frequency, severity and improve overall traffic management. This paper presents a comprehensive…
Automotive synthetic aperture radar (SAR) can achieve a significant angular resolution enhancement for detecting static objects, which is essential for automated driving. Obtaining high resolution SAR images requires precise ego vehicle…
This work deals with the real-time estimation of the lean angle of high-performance motorbikes. The estimate is obtained through measurements provided by an onboard inertial sensor and a GNSS receiver. A two-stage state observer,…
Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only onboard sensors. In this paper, we propose a drift…
Accurate Travel Time Estimation (TTE) is critical for ride-hailing platforms, where errors directly impact user experience and operational efficiency. While existing production systems excel at holistic route-level dependency modeling, they…
Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…