相关论文: Trajectory Planning Using Tire Thermodynamics for …
We propose a simple rubber friction law, which can be used, e.g., in models of tire (and vehicle) dynamics. The friction law is tested by comparing numerical results to the full rubber friction theory (B.N.J. Persson, J. Phys.: Condensed…
Planning trajectories for automated vehicles in urban environments requires methods with high generality, long planning horizons, and fast update rates. Using a path-velocity decomposition, we contribute a novel planning framework, which…
Cross country skiing is an interplay between the active motion of the body of the skier and the physical interaction between the surface of the skis and the snow. Friction and glide between the ski base and the snow depend on the snow…
High-speed autonomous driving in off-road environments has immense potential for various applications, but it also presents challenges due to the complexity of vehicle-terrain interactions. In such environments, it is crucial for the…
It is common to utilise dynamic models to measure the tyre-road friction in real-time. Alternatively, predictive approaches estimate the tyre-road friction by identifying the environmental factors affecting it. This work aims to formulate…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…
Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…
This article deals with the modeling for an individual car path through a road network, where the dynamics is driven by a coupled system of ordinary and partial differential equations. The network is characterized by bounded buffers at…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…
In autonomous driving, accurately predicting the movements of other traffic participants is crucial, as it significantly influences a vehicle's planning processes. Modern trajectory prediction models strive to interpret complex patterns and…
Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety…
Predicting transportation modes from GPS (Global Positioning System) records is a hot topic in the trajectory mining domain. Each GPS record is called a trajectory point and a trajectory is a sequence of these points. Trajectory mining has…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…
Accurate aircraft trajectory prediction (TP) in air traffic management systems is confounded by a number of epistemic uncertainties, dominated by uncertain meteorological conditions and operator specific procedures. Handling this…
Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable…