相关论文: Learning to cooperatively estimate road surface fr…
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…
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…
In a future connected vehicle environment, an optimized route and motion planning should not only fulfill efficiency and safety constraints but also minimize vehicle motions and oscillations, causing poor ride comfort perceived by…
Slippery road conditions pose significant challenges for autonomous driving. Beyond predicting road grip, it is crucial to estimate its uncertainty reliably to ensure safe vehicle control. In this work, we benchmark several uncertainty…
This paper considers the use of compressive sensing based algorithms for velocity estimation of moving vehicles. The procedure is based on sparse reconstruction algorithms combined with time-frequency analysis applied to video data. This…
Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…
Road departure detection systems (RDDSs) for eliminating unintentional road departure collisions have been developed and equipped on some commercial vehicles in recent years. In order to provide a standardized and objective performance…
In route selection problems, the driver's personal preferences will determine whether she prefers a route with a travel time that has a relatively low mean and high variance over one that has relatively high mean and low variance. In…
The presence of surface defects (roughness, surface imperfections, profiles, etc.) in a contact inevitably leads to the modification of its local properties, such as the coefficient of friction. In railway wheelsets, this surface condition…
Traffic intersections present significant challenges for the safe and efficient maneuvering of connected and automated vehicles (CAVs). This research proposes an innovative roadside unit (RSU)-assisted cooperative maneuvering system aimed…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
We propose an automated method to estimate a road segment's free-flow speed from overhead imagery and road metadata. The free-flow speed of a road segment is the average observed vehicle speed in ideal conditions, without congestion or…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior,…
This paper presents an output-only method to identify road roughness profiles from axle accelerations of a moving vehicle. A two degree of freedom half-car model is discretised with a zero-order hold and a backward-difference approximation…
Estimates of road grade/slope can add another dimension of information to existing 2D digital road maps. Integration of road grade information will widen the scope of digital map's applications, which is primarily used for navigation, by…
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…
Pedestrian safety has become an important research topic among various studies due to the increased number of pedestrian-involved crashes. To evaluate pedestrian safety proactively, surrogate safety measures (SSMs) have been widely used in…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
In this paper, we propose an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets. Instead of assuming the exact convex projection proposed in the literature, we allow each node to…