Related papers: High-Slip-Ratio Control for Peak Tire-Road Frictio…
Accurate knowledge of the tire-road friction coefficient (TRFC) is essential for vehicle safety, stability, and performance, especially in autonomous racing, where vehicles often operate at the friction limit. However, TRFC cannot be…
Accurate estimation of the tire slip ratio is critical for vehicle safety, as it is necessary for vehicle control purposes. In this paper, an intelligent tire system is presented to develop a novel slip ratio estimation model using machine…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…
Traction adaptive motion planning and control has potential to improve an an automated vehicle's ability to avoid accident in a critical situation. However, such functionality require an accurate friction estimate for the road ahead of the…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
The accurate online estimation of the road-friction coefficient is an essential feature for any advanced brake control system. In this study, a data-driven scheme based on a MLP Neural Net is proposed to estimate the optimum friction…
The application of traction control systems (TCS) for electric vehicles (EV) has great potential due to easy implementation of torque control with direct-drive motors. However, the control system usually requires road-tire friction and…
Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip often depend on costly, specialized…
Modern railway traction systems are often equipped with anti-slip control strategies to comply with performance and safety requirements. A certain amount of slip is needed to increase the torque transferred by the traction motors onto the…
The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending…
The performance of vehicle active safety systems is dependent on the friction force arising from the contact of tires and the road surface. Therefore, an adequate knowledge of the tire-road friction coefficient is of great importance to…
Autonomous racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…
Knowledge about the maximum tire-road friction potential is an important factor to ensure the driving stability and traffic safety of the vehicle. Many authors proposed systems that either measure friction related parameters or estimate the…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
This study presents a nonlinear model predictive control (NMPC) formulation for preview-based traction control, which uses the information on the expected tire-road friction coefficient ahead to enhance the wheel slip control performance,…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…