相关论文: Real-Time Kinematics-Based Sensor-Fault Detection …
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on…
Advanced Driver-Assistance Systems (ADAS) have been thriving and widely deployed in recent years. In general, these systems receive sensor data, compute driving decisions, and output control signals to the vehicles. To smooth out the…
This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted…
We develop data-driven algorithms to fully automate sensor fault detection in systems governed by underlying physics. The proposed machine learning method uses a time series of typical behavior to approximate the evolution of measurements…
In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…
We propose a method for automated synchronization of vehicle sensors useful for the study of multi-modal driver behavior and for the design of advanced driver assistance systems. Multi-sensor decision fusion relies on synchronized data…
High-level Autonomous Driving Systems (ADSs), such as Google Waymo and Baidu Apollo, typically rely on multi-sensor fusion (MSF) based approaches to perceive their surroundings. This strategy increases perception robustness by combining the…
In this study, a sensor fusion based GNSS spoofing attack detection framework is presented that consists of three concurrent strategies for an autonomous vehicle (AV): (i) prediction of location shift, (ii) detection of turns (left or…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
Traditional anomaly detection techniques onboard satellites are based on reliable, yet limited, thresholding mechanisms which are designed to monitor univariate signals and trigger recovery actions according to specific European Cooperation…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
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…
In this paper, a novel sensor fault detection, isolation and identification (FDII) strategy is proposed by using the multiple model (MM) approach. The scheme is based on multiple hybrid Kalman filters (HKF) which represents an integration…
Fully autonomous vehicles (AVs), i.e., AVs with autonomy level 5, are expected to dominate road transportation in the near-future and contribute trillions of dollars to the global economy. The general public, government organizations, and…
Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…
Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their precision performance. This article focuses on data-driven…
Reliable control and state estimation of differential drive robots (DDR) operating in dynamic and uncertain environments remains a challenge, particularly when system dynamics are partially unknown and sensor measurements are prone to…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…