相关论文: Virtual Sensor for Vehicle Sideslip Angle Based on…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often oversimplify the issue by treating slippage as a binary occurrence. Our research presents a framework that…
Physics-informed deep learning is a popular trend in the modeling and control of dynamical systems. This paper presents a novel method for rapid online identification of vehicle cornering stiffness coefficient, a crucial parameter in…
Automation of complex traffic scenarios is expected to rely on input from a roadside infrastructure to complement the vehicles' environment perception. We here explore design requirements for a prototypical setup of virtual vision or RADAR…
Automotive synthetic aperture radar (SAR) can achieve a significant angular resolution enhancement for detecting static objects, which is essential for automated driving. Obtaining high resolution SAR images requires precise ego vehicle…
The concept of intelligent tires has drawn attention of researchers in the areas of autonomous driving, advanced vehicle control, and artificial intelligence. The focus of this paper is on intelligent tires and the application of machine…
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
This work deals with the real-time estimation of the lean angle of high-performance motorbikes. The estimate is obtained through measurements provided by an onboard inertial sensor and a GNSS receiver. A two-stage state observer,…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
This work presents a methodology to estimate tire parameters and their uncertainty using a Bayesian optimization approach. The literature mainly considers the estimation of tire parameters but lacks an evaluation of the parameter…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
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…
This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…
In this paper, a robust vehicle local position estimation with the help of single camera sensor and GPS is presented. A modified Inverse Perspective Mapping, illuminant Invariant techniques and object detection based approach is used to…
This paper introduces a novel model-free approach to synthesize virtual sensors for the estimation of dynamical quantities that are unmeasurable at runtime but are available for design purposes on test benches. After collecting a dataset of…