Related papers: Online Slip Detection and Friction Coefficient Est…
Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot…
Road roughness significantly affects vehicle vibrations and ride quality. We introduce a Kalman filter (KF)-based method for estimating road roughness in terms of the international roughness index (IRI) by fusing inertial and speed…
Numerous detection problems in computer vision, including road crack detection, suffer from exceedingly foreground-background imbalance. Fortunately, modification of loss function appears to solve this puzzle once and for all. In this…
Adapting the functioning of the collision warning systems to the specific drivers' characteristics is of great benefit to drivers. For example, by customizing collision warning algorithms we can minimize false alarms, thereby reducing…
Motion prediction is essential for safe and efficient autonomous driving. However, the inexplicability and uncertainty of complex artificial intelligence models may lead to unpredictable failures of the motion prediction module, which may…
Many contemporary software products have subsystems for automatic crash reporting. However, it is well-known that the same bug can produce slightly different reports. To manage this problem, reports are usually grouped, often manually by…
In this paper, we present a novel method based on online target-specific metric learning and coherent dynamics estimation for tracklet (track fragment) association by network flow optimization in long-term multi-person tracking. Our…
We perform extended numerical simulation of the dynamics of dry friction, based on a model derived from the phenomenological description proposed by T. Baumberger et al.. In the case of small deviation from the steady sliding motion, the…
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle systems, roadside sensors are usually affiliated with…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…
The alertness level of drivers can be estimated with the use of computer vision based methods. The level of fatigue can be found from the value of PERCLOS. It is the ratio of closed eye frames to the total frames processed. The main…
Many road accidents occur due to drivers failing to read sign board due to various reasons. Especially at night, the tiredness of driver reduces his perception to small things like speed limit of sign the board, curve ahead sign board. For…
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…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Sensor-fault detection is crucial for the safe operation of autonomous vehicles. This paper introduces a novel kinematics-based approach for detecting and identifying faulty sensors, which is model-independent, rule-free, and applicable to…