相关论文: High-Performance Motorbike Lean Angle Estimation

In this work I will obtain the system of nonlinear equations that correctly describes the motion of motorcycles and fast bicycles (above 30 km/hr) for the first time in literature. I will use it to calculate the lean angle during a turn and…

Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…

We combine power-meter measurements with GPS measurements to study the model that accounts for the use of power by a cyclist. The model takes into account the change in elevation and speed along with adverse effects of air, rolling and…

A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…

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…

Rapid urbanization and improved living standards have led to a substantial increase in the number of vehicles on the road, consequently resulting in a rise in the frequency of accidents. Among these accidents, motorbike accidents pose a…

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…

This paper deals with a predictive model of kinematical performance in 5-axis milling within the context of High Speed Machining. Indeed, 5-axis high speed milling makes it possible to improve quality and productivity thanks to the degrees…

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…

Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…

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…

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…

Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…

This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…

The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…

This article addresses the problem of dynamic on-line estimation and compensation of hard-iron and soft-iron biases of 3-axis magnetometers under dynamic motion in field robotics, utilizing only biased measurements from a 3-axis…

Up to 17% of all motorcycle accidents occur when the rider is maneuvering through a curve and the main cause of curve accidents can be attributed to inappropriate speed and wrong intra-lane position of the motorcycle. Existing curve warning…

Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain's principle, the model incorporates both longitudinal and lateral…

Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…

This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…