33 citations · 109 across the 23 of their papers we have counts for
25 papers
LCF3D: A Robust and Real-Time Late-Cascade Fusion Framework for 3D Object Detection in Autonomous Driving
Carlo Sgaravatti, Riccardo Pieroni, Matteo Corno +3
Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles comple…
Target Tracking via LiDAR-RADAR Sensor Fusion for Autonomous Racing
Marcello Cellina, Matteo Corno, Sergio Matteo Savaresi
High Speed multi-vehicle Autonomous Racing will increase the safety and performance of road-going Autonomous Vehicles. Precise vehicle detection and dynamics estimation from a movi…
A Multimodal Hybrid Late-Cascade Fusion Network for Enhanced 3D Object Detection
Carlo Sgaravatti, Roberto Basla, Riccardo Pieroni +4
We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and…
LiDAR-Based Vehicle Detection and Tracking for Autonomous Racing
Marcello Cellina, Matteo Corno, Sergio Matteo Savaresi
Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions bet…
Semi-automated transmission control for motorcycle gearshift: design, data-driven tuning and experimental validation
Edoardo Catenaro, Giulio Panzani, Davide Sette +1
This brief addresses the gearshifting problem for Semi-Automated Manual Transmissions (S-AMT) in powered two-wheelers, a powertrain setup that allows fast and smooth gear shifts wi…
Mobile Robot Localization: a Modular, Odometry-Improving Approach
Luca Mozzarelli, Luca Cattaneo, Matteo Corno +1
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting bette…
Automatic Navigation Map Generation for Mobile Robots in Urban Environments
Luca Mozzarelli, Simone Specchia, Matteo Corno +1
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the incre…
Multi-Object Tracking with Camera-LiDAR Fusion for Autonomous Driving
Riccardo Pieroni, Simone Specchia, Matteo Corno +1
This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of…
Automatic dimensionality reduction of Twin-in-the-Loop Observers
Giacomo Delcaro, Riccardo Poli, Federico Dettù +2
Conventional vehicle dynamics estimation methods suffer from the drawback of employing independent, separately calibrated filtering modules for each variable. To address this limit…
Vehicle Fuel Consumption Virtual Sensing from GNSS and IMU Measurements
Marcello Cellina, Silvia Strada, Sergio Matteo Savaresi
This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceler…
An Add-on Model Predictive Control Strategy for the Energy Management of Hybrid Electric Tractors
Stefano Radrizzani, Giulio Panzani, Luca Trezza +2
The hybridization process has recently touched also the world of agricultural vehicles. Within this context, we develop an Energy Management Strategy (EMS) aiming at optimizing fue…
Optimization tools for Twin-in-the-Loop vehicle control design: analysis and yaw-rate tracking case study
Federico Dettù, Simone Formentin, Stefano Varisco +1
Given the urgent need of simplifying the end-of-line tuning of complex vehicle dynamics controllers, the Twin-in-the-Loop Control (TiL-C) approach was recently proposed in the auto…
Joint vehicle state and parameters estimation via Twin-in-the-Loop observers
Federico Dettù, Simone Formentin, Sergio Matteo Savaresi
Vehicular control systems are required to be both extremely reliable and robust to different environmental conditions, e.g. load or tire-road friction. In this paper, we extend a n…
Non-Invasive Experimental Identification of a Single Particle Model for LiFePO4 Cells
Andrea Trivella, Matteo Corno, Stefano Radrizzani +1
The rapid spread of Lithium-ions batteries (LiBs) for electric vehicles calls for the development of accurate physical models for Battery Management Systems (BMSs). In this work, t…
Virtual-bike emulation in a series-parallel human-powered electric bike
Stefano Radrizzani, Giulio Panzani, Sergio M. Savaresi
Combining the advantages of standard bicycles and electrified vehicles, electric bikes (e-Bikes) are promising vehicles to reduce emission and traffic. The current literature on e-…
Handling-Oriented Stiffness Control of a Multichamber Suspension
Gabriele Marini, Giulio Panzani, Matteo Corno +2
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variabili…
The Twin-in-the-Loop approach for vehicle dynamics control
Federico Dettù, Simone Formentin, Sergio Matteo Savaresi
In vehicle dynamics control, engineering a suitable regulator is a long and costly process. The starting point is usually the design of a nominal controller based on a simple contr…
Twin-in-the-loop state estimation for vehicle dynamics control: theory and experiments
Giorgio Riva, Simone Formentin, Matteo Corno +1
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 tec…
Experimental Automatic Calibration of a Semi-Active Suspension Controller via Bayesian Optimization
Gianluca Savaia, Youngil Sohn, Simone Formentin +3
The End-of-Line (EoL) calibration of semi-active suspension systems for road vehicles is usually a critical and expensive task, needing a team of vehicle and control experts as wel…
Analysis and development of an automatic eCall for motorcycles: a one-class cepstrum approach
Simone Gelmini, Giulio Panzani, Sergio Savaresi
The automatic dial of an emergency call - eCall - in response to a road accident is a feature that is gaining interest in the intelligent vehicle community. It indirectly increases…
Analysis and development of a novel algorithm for the in-vehicle hand-usage of a smartphone
Simone Gelmini, Silvia Strada, Mara Tanelli +2
Smartphone usage while driving is unanimously considered to be a really dangerous habit due to strong correlation with road accidents. In this paper, the problem of detecting wheth…
Online wheel speed filtering for periodic disturbance reduction: a strategy for an advanced bicycle application
Gianmarco Rallo, Simone Formentin, Sergio Matteo Savaresi
Due to geometrical errors and possible misalignment of the sensors, wheel speed measurements provided by incremental encoders in road vehicles are usually affected by significant p…
Least costly energy management for series hybrid electric vehicles
Simone Formentin, Jacopo Guanetti, Sergio M. Savaresi
Energy management of plug-in Hybrid Electric Vehicles (HEVs) has different challenges from non-plug-in HEVs, due to bigger batteries and grid recharging. Instead of tackling it to…
Robust linear static anti-windup with probabilistic certificates
Simone Formentin, Fabrizio Dabbene, Roberto Tempo +2
In this paper, we address robust static anti-windup compensator design and performance analysis for saturated linear closed loops in the presence of nonlinear probabilistic paramet…