22 citations · 29 across the 9 of their papers we have counts for
10 papers
Model Validity in Observers: When to Increase the Complexity of Your Model?
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in the different plan and control vehicle frameworks puts the stability…
A Robust Hybrid Observer for Side-slip Angle Estimation
Agapius Bou Ghosn, Marcus Nolte, Philip Polack +1
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-…
The Hybrid Extended Bicycle: A Simple Model for High Dynamic Vehicle Trajectory Planning
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
While highly automated driving relies most of the time on a smooth driving assumption, the possibility of a vehicle performing harsh maneuvers with high dynamic driving to face une…
Robust LSTM-based Vehicle Velocity Observer for Regular and Near-limits Applications
Agapius Bou Ghosn, Marcus Nolte, Philip Polack +2
Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in nor…
Learning-based Observer Evaluated on the Kinematic Bicycle Model
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
The knowledge of the states of a vehicle is a necessity to perform proper planning and control. These quantities are usually accessible through measurements. Control theory brings…
Coupled Longitudinal and Lateral Control of a Vehicle using Deep Learning
Guillaume Devineau, Philip Polack, Florent Altché +1
This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control…
Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model
Philip Polack, Florent Altché, Brigitte d'Andréa-Novel +1
This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) cont…
Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach
Philip Polack, Brigitte d'Andréa-Novel, Michel Fliess +2
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the pr…
High-Speed Trajectory Planning for Autonomous Vehicles Using a Simple Dynamic Model
Florent Altché, Philip Polack, Arnaud de la Fortelle
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit.…
A Simple Dynamic Model for Aggressive, Near-Limits Trajectory Planning
Florent Altché, Philip Polack, Arnaud de La Fortelle
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and…