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Multi-agent autonomous pilot for motorcycles

Dana Vrajitoru, Russel Mehler
2004 2004 IEEE Electro/Information Technology Conference  
The application is written in OpenGL and includes a model of a vehicle (a motorcycle) based on the physical laws of motion, including kinematics, gravitation, and friction.  ...  Our intention is to simulate the behavior of a human driver on the road. The performance of the automatic pilot is compared with that of a human player.  ...  to explain the behavior of the motorcycle when the lateral axis of the handlebar is not orthogonal to the central axis of the motorcycle.  ... 
doi:10.1109/eit.2004.4569388 fatcat:bprkzozqwrdgnliyu5a2satgly

Competitive coevolution versus objective fitness for an autonomous motorcycle pilot

Dana Vrajitoru
2007 2007 IEEE International Conference on Electro/Information Technology  
We apply this model to a problem of configuring a multi-agent autonomous pilot for motorcycles.  ...  In this paper we explore the impact of such a choice on the overall performance of the solutions, as compared to the classic approach.  ...  Physical Model of the Motorcycle and Autonomous Pilot The physical model of the motorcycle has been more extensively described in [13] and is close to [4] .  ... 
doi:10.1109/eit.2007.4374483 fatcat:obhdjf3o7vhjrlfv76pyrytz6e

Perspectives for motorcycle stability control systems

Patrick Seiniger, Kai Schröter, Jost Gail
2012 Accident Analysis and Prevention  
the art in motorcycle control systems.  ...  Also, the general application of today's ABS systems on motorcycles should highly be encouraged.  ...  As a consequence, it is highly needed to further improve motorcycle safety systems. A giant leap towards safer motorcycles is the application of ABS.  ... 
doi:10.1016/j.aap.2010.11.018 pmid:22062339 fatcat:eofp7s6h4rb3jd4v6s7jf2xk2a

Vision-Based Lane Crossing Point Tracking for Motorcycles

Pierre-Marie Damon, Majda Fouka, Hicham Hadj-Abdelkader, Hichem Arioui
2019 2019 IEEE Intelligent Transportation Systems Conference (ITSC)  
The algorithm is achieved without the use of any steering sensor.  ...  First, the road geometry (clothoid model) and the motorcycle position with respect to the road markers are deduced based an inverse perspective mapping algorithm.  ...  Hence, the prediction of the steering rider behavior is a crucial issue for Advanced River Assistance Systems (ARAS) to warn dangerous drive situations.  ... 
doi:10.1109/itsc.2019.8917206 dblp:conf/itsc/DamonFHA19 fatcat:kich42xanfc4lam5pa2uzstbxy

Inevitable Collision States for Motorcycle-to-Car Collision Scenarios

Giovanni Savino, Federico Giovannini, Michael Fitzharris, Marco Pierini
2016 IEEE transactions on intelligent transportation systems (Print)  
ICS identification can be adopted as a triggering criterion for more invasive safety systems such as motorcycle autonomous emergency braking (MAEB), which require a last-resort approach in their initial  ...  The findings extend the applicability of previous algorithms to include all motorcycle-tocar collisions, irrespective of collision configurations.  ...  ACKNOWLEDGMENT The authors would like to thank the project PISa-Powered Two Wheeler Integrated Safety (European Community's Sixth Framework Programme FP6/2000-2006 Grant Agreement 031360) for providing the motorcycle  ... 
doi:10.1109/tits.2016.2520084 fatcat:wa4s76dpgvcvboimj4osb3n34u

Design of a Motorcycle Steering Damper for a Safer Ride

Simone Piantini, Alessandro Giorgetti, Niccolò Baldanzini, Cosimo Monti, Marco Pierini
2020 Machines  
In this paper, we present the design of a new motorcycle semi-active steering damper integrated into the steering column and utilizing a magnetorheological fluid (MRF) for variable damping torque.  ...  electrical current of 2 A; (ii) total integration into the motorcycle steering column enabled by its axial design and limited radius; (iii) a simple chamber geometry that allows for easy manufacture;  ...  electronic steering stabilizers are examples of active safety systems currently available in the market while motorcycle autonomous emergency braking (M-AEB) is an example of a new technology under active  ... 
doi:10.3390/machines8020024 fatcat:hbmpilca4jeirgb4kugwbncana

Stabilizing an Urban Semi-Autonomous Bicycle

M. Ramos Garcia, Daniel A. Mantaras, Juan C. Alvarez, David Blanco F.
2018 IEEE Access  
Therefore, the resulting system must be stable throughout the entire operating speed range and must be rideable by a person when used in manual mode.  ...  Furthermore, it has been successfully tested in a multibody co-simulation using Adams and Simulink, thus illustrating its behavior and testing its performance.  ...  The purpose of this 3D model is to obtain the inertial properties of the bicycle to introduce them into the linearized Whipple model and calculate the hypothetical behavior of the system.  ... 
doi:10.1109/access.2018.2795247 fatcat:zsea5kwdqnd2nhl23j5q7twwzi

Loss of Control Prediction for Motorcycles during Emergency Braking Maneuvers Using a Supervised Learning Algorithm

Pedro Huertas-Leyva, Giovanni Savino, Niccolò Baldanzini, Marco Pierini
2020 Applied Sciences  
Because of the inherent instability of motorcycles, motorcycle crashes are frequently caused by loss of control performing braking as an evasive maneuver.  ...  The predictor variables of the models were identified among the parameters of the vehicle kinematics. The best model predicted 100% of the loss of control and 100% of the full control cases.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10051754 fatcat:yoz6b7yjmfanzepdllqswsbj6e

Autonomics: In Search of a Foundation for Next Generation Autonomous Systems [article]

David Harel, Assaf Marron, Joseph Sifakis
2019 arXiv   pre-print
We argue that autonomics, i.e., the study of unique challenges presented by next generation autonomous systems, and research towards resolving them, can introduce substantial contributions and innovations  ...  The potential benefits of autonomous systems have been driving intensive development of such systems, and of supporting tools and methodologies.  ...  Directions towards common domain-specific languages, ontologies, models and behavioral scenarios in the area of autonomous systems can be seen in, e.g., Traffic Sequence Charts language [7] , USA National  ... 
arXiv:1911.07133v1 fatcat:w4b6odmgzfhrrkw6s7lxhny5rq

VTGNet: A Vision-based Trajectory Generation Network for Autonomous Vehicles in Urban Environments [article]

Peide Cai, Yuxiang Sun, Hengli Wang, Ming Liu
2020 arXiv   pre-print
Furthermore, closed-loop driving tests suggest that the proposed method achieves better cross-scene/platform driving results than the state-of-the-art (SOTA) end-to-end control method, where our model  ...  Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions  ...  Furthermore, we show its recovery behaviors in Fig. 13-(b) , where the ego-car is autonomously recovering from off-center/orientation errors perturbed by periodic steering noises.  ... 
arXiv:2004.12591v3 fatcat:wqw6qjy47fgwdgr5abdeex6zhi

Safety of Autonomous Vehicles

Jun Wang, Li Zhang, Yanjun Huang, Jian Zhao, Francesco Bella
2020 Journal of Advanced Transportation  
In this article, the levels of automation are reviewed according to the role of the automated system in the autonomous driving process, which will affect the frequency of the disengagements and accidents  ...  A small fraction of the total accidents (∼6%) is directly related to the AVs, while 94% of the accidents are passively initiated by the other parties, including pedestrians, cyclists, motorcycles, and  ...  to pass by paying extra fees, and their modeling results indicate that the system performance can be improved by utilizing both of the two methods [86] .  ... 
doi:10.1155/2020/8867757 fatcat:yvyk4c4c2zehxcuvj3qx7vbk6a

The Reliability of Autonomous Vehicles Under Collisions [chapter]

Ibrahim Kutay Yilmazcoban
2016 Autonomous Vehicle  
Unmanned autonomous vehicles (UAV) subject is one of the most conspicuous topics of the last decade ensures a better handling ability for more precision way of control of the system or the drive compared  ...  This chapter characterizes some perspectives of the autonomous vehicles in a short glance of an enormous science of the collisions with the help of experimental and numerical approaches.  ...  Autonomous Vehicle For the sled test, engineers use a representation of a passenger compartment (buck) with all or some of the interior parts like seat, front panel, steering system, seat belts, and air  ... 
doi:10.5772/63974 fatcat:ifuvg37rtbewleuxn6la4qfpiq

A Functional Architecture for Autonomous Driving

Sagar Behere, Martin Törngren
2015 Proceedings of the First International Workshop on Automotive Software Architecture - WASA '15  
As the Technology Readiness Levels (TRLs) of self-driving vehicles increase, it is necessary to investigate the Electrical/Electronic(E/E) system architectures for autonomous driving, beyond proof-of-concept  ...  This paper presents the principal components needed in a functional architecture for autonomous driving, along with reasoning for how they should be distributed across the architecture.  ...  Given that the steering performance by braking is unlikely to match the performance of an actual steering system, there will be limits to the vehicle motion when steering-by-braking is utilized.  ... 
doi:10.1145/2752489.2752491 fatcat:chjwjdp2ivbq7eujitqurka7bi

Autonomics: In search of a foundation for next-generation autonomous systems

David Harel, Assaf Marron, Joseph Sifakis
2020 Proceedings of the National Academy of Sciences of the United States of America  
We focus on three main challenges: 1) how to specify autonomous system behavior in the face of unpredictability; 2) how to carry out faithful analysis of system behavior with respect to rich environments  ...  The potential benefits of autonomous systems are obvious.  ...  This work was supported in part by grants to D.H. from the Israel Science Foundation, Intel Corporation, and the Estate of Emile Mimran, and from his endowed William Sussman Professorial Chair of Mathematics  ... 
doi:10.1073/pnas.2003162117 pmid:32694210 fatcat:kpq4dbqvxjdc7cmdw4oh4ku6my

The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation

Tianyu Liu, Qing hai Liao, Lu Gan, Fulong Ma, Jie Cheng, Xupeng Xie, Zhe Wang, Yingbing Chen, Yilong Zhu, Shuyang Zhang, Zhengyong Chen, Yang Liu (+15 others)
2021 IEEE robotics & automation magazine  
Planning Planning enables autonomous vehicles to acquire future paths or motions toward the destination.  ...  The EPS controls the steering angle and speed of the vehicle.  ... 
doi:10.1109/mra.2020.3045040 fatcat:ojnturfcsfglblpqproubxgnca
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