相关论文: Longitudinal Dynamics Model Identification of an E…

This article presents a method for estimating the dynamic driving states (position, velocity, acceleration and heading) from noisy measurement data. The proposed approach is effective with both complete and partial observations, producing…

Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Executing drift maneuvers during high-speed cornering presents significant challenges for autonomous vehicles, yet offers the potential to minimize turning time and enhance driving dynamics. While reinforcement learning (RL) has shown…

This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…

In pedestrian-dense traffic scenarios, an autonomous vehicle may have to safely drive through a crowd of pedestrians while the vehicle tries to keep the desired speed as much as possible. This requires a model that can predict the motion of…

Calibration and validation techniques are crucial in assessing the descriptive and predictive power of car-following models and their suitability for analyzing traffic flow. Using real and generated floating-car and trajectory data, we…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…

Heavy duty truck mechanical configuration is often tailor designed and built for specific truck mission requirements. This renders the precise derivation of analytical dynamical models and controls for these trucks from first principles…

The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…

Automated Vehicles (AVs) promise significant advances in transportation. Critical to these improvements is understanding AVs' longitudinal behavior, relying heavily on real-world trajectory data. Existing open-source trajectory datasets of…

The trajectory derived from RRT and RRT* is zagged. A holonomic drive is able to follow this trajectory. But real-life vehicle which has dynamical constraints cannot follow this trajectory. In this work, we are going to modify the RRT and…

Inference for mechanistic models is challenging because of nonlinear interactions between model parameters and a lack of identifiability. Here we focus on a specific class of mechanistic models, which we term stable differential equations.…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

Empirical modelling often aims for the simplest model consistent with the data. A new technique is presented which quantifies the consistency of the model dynamics as a function of location in state space. As is well-known, traditional…

We consider the problem of learning the dynamics of autonomous linear systems (i.e., systems that are not affected by external control inputs) from observations of multiple trajectories of those systems, with finite sample guarantees.…

This paper proposes a methodology to estimate uncertainty in automated vehicle (AV) dynamics in real time via Bayesian inference. Based on the estimated uncertainty, the method aims to continuously monitor the car-following (CF) performance…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits depend on string stability, which dictates how disturbances…