contributor author | Spike, Nathan;Kurup, Akhil;Chopp, Derek;Bos, Jeremy;Robinette, Darrell | |
date accessioned | 2023-04-06T12:56:44Z | |
date available | 2023-04-06T12:56:44Z | |
date copyright | 12/2/2022 12:00:00 AM | |
date issued | 2022 | |
identifier issn | 27703495 | |
identifier other | aoje_1_011053.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4288806 | |
description abstract | Simulation is a critical step in the development of autonomous driving technologies, allowing engineers to test control algorithms, path planners, and other dynamic vehicle behaviors in a riskfree, lowcost environment. Under normal driving conditions representative of paved, most vehicle models are suitable for accurate prediction of vehicle motion. On low friction surfaces, basic vehicle models do not display the variability in vehicle response to steering input that is observed on realworld low friction surfaces such as clear ice. This work presents distribution parameters for a stochastic friction grid map for use in simulating vehicle behavior on icy surfaces. Simulation data from rapid double lane changes are compared with vehicle response to the same paths on an ice rink test course. Strong correlation between the simulation and test vehicle is achieved with validation performed using previously developed control and path planning methods. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Improving Simulation to Hardware Correlation of Autonomous Vehicles Operating on Low Friction Surfaces | |
type | Journal Paper | |
journal volume | 1 | |
journal title | ASME Open Journal of Engineering | |
identifier doi | 10.1115/1.4056286 | |
journal fristpage | 11053 | |
journal lastpage | 1105310 | |
page | 10 | |
tree | ASME Open Journal of Engineering:;2022:;volume( 001 ) | |
contenttype | Fulltext | |