4 papers
IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions
Seuffo Akouan ha Ngoune, Alessandro Toschi, Paolo Burgio +1
Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and high-performance driving, but lateral velocity is rarely measured dir…
Guess the Drift with LOP-UKF: LiDAR Odometry and Pacejka Model for Real-Time Racecar Sideslip Estimation
Alessandro Toschi, Nicola Musiu, Francesco Gatti +4
The sideslip angle, crucial for vehicle safety and stability, is determined using both longitudinal and lateral velocities. However, measuring the lateral component often necessita…
A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differential
Ayoub Raji, Nicola Musiu, Alessandro Toschi +7
In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar. The model is used in a Mode…
er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds
Ayoub Raji, Danilo Caporale, Francesco Gatti +15
The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using…