相关论文: Virtual Sensor for Vehicle Sideslip Angle Based on…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy…
Understanding the dynamic behavior of tires and their interactions with road plays an important role in designing integrated vehicle control strategies. Accordingly, having access to reliable information about the tire-road interactions…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
A novel approach to detect road surface anomalies by visual tracking of a preceding vehicle is proposed. The method is versatile, predicting any kind of road anomalies, such as potholes, bumps, debris, etc., unlike direct observation…
In this work, we present RAGE-XY, an extended version of RAGE, a real-time estimation framework that simultaneously infers vehicle velocity, tire slip angles, and the forces acting on the vehicle using only standard onboard sensors such as…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…
Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
Simulation-based testing is a promising approach to significantly reduce the validation effort of automated driving functions. Realistic models of environment perception sensors such as camera, radar and lidar play a key role in this…
Developing smart tires with high sensing capability is significant for improving the moving stability and environmental adaptability of wheeled robots and vehicles. However, due to the classical manufacturing design, it is always…
Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians' future trajectories in these same environments. Traditional model-based prediction…
Accurate tire modeling is crucial for optimizing autonomous racing vehicles, as state-of-the-art (SotA) model-based techniques rely on precise knowledge of the vehicle's parameters. Yet, system identification in dynamic racing conditions is…
This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by…