Related papers: Modular Drive Architecture for Software-defined Ve…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Modular end-to-end (ME2E) autonomous driving paradigms combine modular interpretability with global optimization capability and have demonstrated strong performance. However, existing studies mainly focus on accuracy improvement, while…
In vehicles with partial or conditional driving automation (SAE Levels 2-3), the driver remains responsible for supervising the system and responding to take-over requests. Therefore, reliable driver monitoring is essential for safe…
In recent years, the role and the importance of software in the automotive domain have changed dramatically. Being able to systematically evaluate and manage software quality is becoming even more crucial. In practice, however, we still…
Current automotive E/E architectures are subject to significant transformations: Computing-power-intensive advanced driver-assistance systems, bandwidth-hungry infotainment systems, the connection of the vehicle with the internet and the…
The main objective of this paper is to design and develop an automatic vehicle, fully controlled by a computer system. The vehicle designed in the present work can move in a pre-determined path and work automatically without the need of any…
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…
This paper explores the concept of creating a "self" for self-driving cars through a homeostatic architecture designed to enhance their autonomy, safety, and efficiency. The proposed system integrates inward focused sensors to monitor the…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
Driverless road maintenance could potentially be highly beneficial to all its stakeholders, with the key goals being increased safety for all road participants, more efficient traffic management, and reduced road maintenance costs such that…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
This paper describes first results from the AutoMoDe (Automotive Model-Based Development) project. The overall goal of the project is to develop an integrated methodology for model-based development of automotive control software, based on…
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…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
New paradigm shifts and 6G technological revolution in vehicular services have emerged toward unmanned driving, automated transportation, and self-driving vehicles. As the technology for autonomous vehicles becomes mature, real challenges…
We consider the problem of co-designing embodied intelligence as a whole in a structured way, from hardware components such as propulsion systems and sensors to software modules such as control and perception pipelines. We propose a…
Multi-modality fusion is the guarantee of the stability of autonomous driving systems. In this paper, we propose a general multi-modality cascaded fusion framework, exploiting the advantages of decision-level and feature-level fusion,…
In this project we evaluate a framework for synchronization of mixed machine-converter power grids. Synchronous machines are assumed to be actuated by mechanical torque injections, while the converters by DC-side current injections. As this…