Related papers: Online Slip Detection and Friction Coefficient Est…

This work presents an online velocity planner for autonomous racing that adapts to changing dynamic constraints, such as grip variations from tire temperature changes and rubber accumulation. The method combines a forward-backward solver…

Online camera-to-ground calibration is to generate a non-rigid body transformation between the camera and the road surface in a real-time manner. Existing solutions utilize static calibration, suffering from environmental variations such as…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

Sophisticated automatic incident detection (AID) technology plays a key role in contemporary transportation systems. Though many papers were devoted to study incident classification algorithms, few study investigated how to enhance feature…

The goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…

In the context of autonomous driving, vehicles are inherently bound to encounter more extreme weather during which public safety must be ensured. As climate is quickly changing, the frequency of heavy snowstorms is expected to increase and…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…

In this paper, numerical estimation of frictional torques is carried out of a rotary elastic disc on a hard and rough surface under different rotating conditions. A one dimensional spring- mass rotary system is numerically solved under the…

In a future connected vehicle environment, an optimized route and motion planning should not only fulfill efficiency and safety constraints but also minimize vehicle motions and oscillations, causing poor ride comfort perceived by…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…

The spontaneous nucleation of accelerating slip along slowly driven frictional interfaces is central to a broad range of geophysical, physical and engineering systems, with particularly far-reaching implications for earthquake physics. A…

The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are…

The ability to detect when a system undergoes an incipient fault is of paramount importance in preventing a critical failure. Classic methods for fault detection (including model-based and data-driven approaches) rely on thresholding error…

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…

In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…

Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations…