相关论文: Three-Dimensional Vehicle Dynamics State Estimatio…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

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…

Reliable estimation (or measurement) of vehicle states has always been an active topic of research in the automotive industry and academia. Among the vehicle states, vehicle speed has a priority due to its critical importance in traction…

Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or poor generalization to unseen road conditions. To address…

This paper presents methods for vehicle state estimation and prediction for autonomous driving. A roundabout is chosen to apply the methods and illustrate the results as autonomous vehicles have difficulty in handling roundabouts. State…

Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…

This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…

This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…

The extent of vibrations experienced by a vehicle driving over natural terrain defines its ride quality. Generally, surface irregularities, ranging from single discontinuities to random variations of the elevation profile, act as a major…

Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…

In vehicle dynamics control, many variables of interest cannot be directly measured, as sensors might be costly, fragile, or even not available. Therefore, real-time estimation techniques need to be used. The previous approach suffers from…

Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…

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…

Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their body pose and by making steps. In this paper, we present a…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

The use of cameras for vehicle speed measurement is much more cost effective compared to other technologies such as inductive loops, radar or laser. However, accurate speed measurement remains a challenge due to the inherent limitations of…

Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear.…

Road roughness is a very important road condition for the infrastructure, as the roughness affects both the safety and ride comfort of passengers. The roads deteriorate over time which means the road roughness must be continuously monitored…

Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…

The need to accurately estimate the speed of road vehicles is becoming increasingly important for at least two main reasons. First, the number of speed cameras installed worldwide has been growing in recent years, as the introduction and…