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Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II)

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Vehicular Sensing".

Deadline for manuscript submissions: 31 July 2025 | Viewed by 9759

Special Issue Editors

Dr. Boyuan Li

E-Mail Website
Guest Editor
Zhejiang Lab, Kechuang Avenue, Hangzhou 311121, China
Interests: state estimation; vehicle dynamics and control; path planning and path tracking control
Special Issues, Collections and Topics in MDPI journals
Dr. Yafei Wang

E-Mail Website
Guest Editor
Institute of Intelligent Vehicle, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
Interests: vehicle dynamics and control; connected and automated vehicles
Special Issues, Collections and Topics in MDPI journals
Dr. Georgios Papaioannou

E-Mail Website
Guest Editor
Intelligent Vehicles & Cognitive Robotics, Technische Universiteit Delft, Mekelweg 5, 2628 CD Delft, The Netherlands
Interests: motion comfort; chassis design and optimisation; vehicle dynamics and control; tyre dynamics and tyre wear
Special Issues, Collections and Topics in MDPI journals
Dr. Haiping Du

E-Mail Website
Guest Editor
Faulty of Engineering and Information Science, University of Wollongong, Wollongong, NSW 2522, Australia
Interests: vehicle dynamics and control systems; robust control theory and engineering applications; robotics and automation
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

For conventional on-road vehicles, due to a lack of adequate sensor information, vehicle dynamics controllers can only rely on the dedicated state estimators, such as the sideslip angle estimator and the velocity estimator. Sometimes the estimation results are not reliable due to the single estimator source. However, autonomous electric vehicles are equipped with a number of advanced sensors such as radar and cameras. The measurements of these additional sensors can be fused into the vehicle state estimators to build a sensor fusion system, which can lead to a large number of highly reliable estimated vehicle states. This enriched vehicle state information can be greatly beneficial to the complex integrated advanced controller design (such as path planning, a path-tracking controller, or integrated chassis control) for automated vehicles or automated vehicles in a connected vehicle platoon.

We welcome the submission of both review articles and original research papers relating the sensor fusion strategy design or vehicle dynamics controller design for connected and automated vehicles. There is a particular interest in papers focusing on how advanced controllers for autonomous vehicles can fully utilize the states estimated from sensor fusion systems to maximise the control performance of automated passenger vehicles or heavy vehicles.

Dr. Boyuan Li
Dr. Yafei Wang
Dr. Georgios Papaioannou
Dr. Haiping Du
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • state estimator
  • sensor fusion
  • automated vehicles
  • connected vehicles
  • integrated controller
  • path planning control
  • path tracking control

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Related Special Issue

Published Papers (7 papers)

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Research

23 pages, 1506 KiB  
Article
An Enhanced Adaptive Kalman Filter for Multibody Model Observation
by Antonio J. Rodríguez, Emilio Sanjurjo and Miguel Ángel Naya
Sensors 2025, 25(7), 2218; https://doi.org/10.3390/s25072218 - 1 Apr 2025
Viewed by 255
Abstract
The topic of state estimation using multibody models combined with Kalman filters has been an active field of research for more than 15 years now. Through state estimation, virtual sensors can be used to increase the knowledge of a system, measuring variables that [...] Read more.
The topic of state estimation using multibody models combined with Kalman filters has been an active field of research for more than 15 years now. Through state estimation, virtual sensors can be used to increase the knowledge of a system, measuring variables that cannot be obtained through conventional sensors. This is useful for control purposes or updating the state of a digital twin of a system. One of the most tricky questions with the different approaches tested in the literature is the parameter tuning of the filters, in particular, the covariance matrix of the plant noise. This work presents a new method which includes a shaping filter to whiten the plant noise combined with an adaptive algorithm to adjust the plant noise parameters. This new method is tested and compared with methods already described in the literature using the three-simulation method. The new method is at least as accurate as the best hand-tuned filters in most of the situations evaluated, and improves the accuracy of previously presented adaptive methods. All the methods and mechanisms tested in this paper are available in an open source library written in matlab called MBDE. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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14 pages, 3250 KiB  
Article
Development of Test Cases for Automated Vehicle Driving Safety Assessment Using Driving Trajectories
by Woori Ko, Minkyu Shim, Sangmin Park, Soomok Lee and Ilsoo Yun
Sensors 2024, 24(24), 7981; https://doi.org/10.3390/s24247981 - 13 Dec 2024
Cited by 1 | Viewed by 816
Abstract
For consumers to have confidence in the safety of automated vehicles (AVs), AVs must be assessed using systematically developed scenarios to verify driving safety and reliability. In particular, verification using scenarios has been widely performed for the assessment and certification of AVs. This [...] Read more.
For consumers to have confidence in the safety of automated vehicles (AVs), AVs must be assessed using systematically developed scenarios to verify driving safety and reliability. In particular, verification using scenarios has been widely performed for the assessment and certification of AVs. This study aims to develop test cases based on driving trajectories to assess the driving safety of AVs. To achieve this, concrete scenarios were systematically developed from functional and logical scenarios. Drone video data analysis was conducted to extract representative lane-change trajectories for AVs on expressway ramp sections. Subsequently, the test cases were selected from concrete scenarios through simulations using time-to-steer (TTS). Finally, the effectiveness of utilizing trajectories for scenario-based driving safety assessments was verified. Furthermore, it is expected that this approach can be applied to other driving patterns by providing a detailed procedure for the test case developed in this study. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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19 pages, 4016 KiB  
Article
Global Path Planning for Articulated Steering Tractor Based on Multi-Objective Hybrid Algorithm
by Ning Xu, Zhihe Li, Na Guo, Te Wang, Aijuan Li and Yumin Song
Sensors 2024, 24(15), 4832; https://doi.org/10.3390/s24154832 - 25 Jul 2024
Cited by 1 | Viewed by 924
Abstract
With the development of smart agriculture, autopilot technology is being used more and more widely in agriculture. Because most of the current global path planning only considers the shortest path, it is difficult to meet the articulated steering tractor operation needs in the [...] Read more.
With the development of smart agriculture, autopilot technology is being used more and more widely in agriculture. Because most of the current global path planning only considers the shortest path, it is difficult to meet the articulated steering tractor operation needs in the orchard environment and address other issues, so this paper proposes a hybrid algorithm of an improved bidirectional search A* algorithm and improved differential evolution genetic algorithm(AGADE). First, the integrated priority function and search method of the traditional A* algorithm are improved by adding weight influence to the integrated priority, and the search method is changed to a bidirectional search. Second, the genetic algorithm fitness function and search strategy are improved; the fitness function is set as the path tree row center offset factor; the smoothing factor and safety coefficient are set; and the search strategy adopts differential evolution for cross mutation. Finally, the shortest path obtained by the improved bidirectional search A* algorithm is used as the initial population of an improved differential evolution genetic algorithm, optimized iteratively, and the optimal path is obtained by adding kinematic constraints through a cubic B-spline curve smoothing path. The convergence of the AGADE hybrid algorithm and GA algorithm on four different maps, path length, and trajectory curve are compared and analyzed through simulation tests. The convergence speed of the AGADE hybrid algorithm on four different complexity maps is improved by 92.8%, 64.5%, 50.0%, and 71.2% respectively. The path length is slightly increased compared with the GA algorithm, but the path trajectory curve is located in the center of the tree row, with fewer turns, and it meets the articulated steering tractor operation needs in the orchard environment, proving that the improved hybrid algorithm is effective. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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20 pages, 2593 KiB  
Article
Reducing Tyre Wear Emissions of Automated Articulated Vehicles through Trajectory Planning
by Georgios Papaioannou, Vallan Maroof, Jenny Jerrelind and Lars Drugge
Sensors 2024, 24(10), 3179; https://doi.org/10.3390/s24103179 - 16 May 2024
Cited by 2 | Viewed by 1435
Abstract
Effective emission control technologies and eco-friendly propulsion systems have been developed to decrease exhaust particle emissions. However, more work must be conducted on non-exhaust traffic-related sources such as tyre wear. The advent of automated vehicles (AVs) enables researchers and automotive manufacturers to consider [...] Read more.
Effective emission control technologies and eco-friendly propulsion systems have been developed to decrease exhaust particle emissions. However, more work must be conducted on non-exhaust traffic-related sources such as tyre wear. The advent of automated vehicles (AVs) enables researchers and automotive manufacturers to consider ways to further decrease tyre wear, as vehicles will be controlled by the system rather than by the driver. In this direction, this work presents the formulation of an optimal control problem for the trajectory optimisation of automated articulated vehicles for tyre wear minimisation. The optimum velocity profile is sought for a predefined road path from a specific starting point to a final one to minimise tyre wear in fixed time cases. Specific boundaries and constraints are applied to the problem to ensure the vehicle’s stability and the feasibility of the solution. According to the results, a small increase in the journey time leads to a significant decrease in the mass loss due to tyre wear. The employment of articulated vehicles with low powertrain capabilities leads to greater tyre wear, while excessive increases in powertrain capabilities are not required. The conclusions pave the way for AV researchers and manufacturers to consider tyre wear in their control modules and come closer to the zero-emission goal. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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13 pages, 3868 KiB  
Article
Research on Tire Surface Damage Detection Method Based on Image Processing
by Jiaqi Chen, Aijuan Li, Fei Zheng, Shanshan Chen, Weikai He and Guangping Zhang
Sensors 2024, 24(9), 2778; https://doi.org/10.3390/s24092778 - 26 Apr 2024
Viewed by 1346
Abstract
The performance of the tire has a very important impact on the safe driving of the car, and in the actual use of the tire, due to complex road conditions or use conditions, it will inevitably cause immeasurable wear, scratches and other damage. [...] Read more.
The performance of the tire has a very important impact on the safe driving of the car, and in the actual use of the tire, due to complex road conditions or use conditions, it will inevitably cause immeasurable wear, scratches and other damage. In order to effectively detect the damage existing in the key parts of the tire, a tire surface damage detection method based on image processing was proposed. In this method, the image of tire side is captured by camera first. Then, the collected images are preprocessed by optimizing the multi-scale bilateral filtering algorithm to enhance the detailed information of the damaged area, and the optimization effect is obvious. Thirdly, the image segmentation based on clustering algorithm is carried out. Finally, the Harris corner detection method is used to capture the “salt and pepper” corner of the target region, and the segmsegmed binary image is screened and matched based on histogram correlation, and the target region is finally obtained. The experimental results show that the similarity detection is accurate, and the damage area can meet the requirements of accurate identification. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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16 pages, 5409 KiB  
Article
Global Dynamic Path Planning of AGV Based on Fusion of Improved A* Algorithm and Dynamic Window Method
by Te Wang, Aijuan Li, Dongjin Guo, Guangkai Du and Weikai He
Sensors 2024, 24(6), 2011; https://doi.org/10.3390/s24062011 - 21 Mar 2024
Cited by 6 | Viewed by 2385
Abstract
Designed to meet the demands of AGV global optimal path planning and dynamic obstacle avoidance, this paper proposes a combination of an improved A* algorithm and dynamic window method fusion algorithm. Firstly, the heuristic function is dynamically weighted to reduce the search scope [...] Read more.
Designed to meet the demands of AGV global optimal path planning and dynamic obstacle avoidance, this paper proposes a combination of an improved A* algorithm and dynamic window method fusion algorithm. Firstly, the heuristic function is dynamically weighted to reduce the search scope and improve the planning efficiency; secondly, a path-optimization method is introduced to eliminate redundant nodes and redundant turning points in the path; thirdly, combined with the improved A* algorithm and dynamic window method, the local dynamic obstacle avoidance in the global optimal path is realized. Finally, the effectiveness of the proposed method is verified by simulation experiments. According to the results of simulation analysis, the path-planning time of the improved A* algorithm is 26.3% shorter than the traditional A* algorithm, the search scope is 57.9% less, the path length is 7.2% shorter, the number of path nodes is 85.7% less, and the number of turning points is 71.4% less. The fusion algorithm can evade moving obstacles and unknown static obstacles in different map environments in real time along the global optimal path. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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19 pages, 1647 KiB  
Article
Predictive Path-Tracking Control of an Autonomous Electric Vehicle with Various Multi-Actuation Topologies
by Chenhui Lin, Boyuan Li, Efstathios Siampis, Stefano Longo and Efstathios Velenis
Sensors 2024, 24(5), 1566; https://doi.org/10.3390/s24051566 - 28 Feb 2024
Cited by 2 | Viewed by 1602
Abstract
This paper presents the development of path-tracking control strategies for an over-actuated autonomous electric vehicle. The vehicle platform is equipped with four-wheel steering (4WS) as well as torque vectoring (TV) capabilities, which enable the control of vehicle dynamics to be enhanced. A nonlinear [...] Read more.
This paper presents the development of path-tracking control strategies for an over-actuated autonomous electric vehicle. The vehicle platform is equipped with four-wheel steering (4WS) as well as torque vectoring (TV) capabilities, which enable the control of vehicle dynamics to be enhanced. A nonlinear model predictive controller is proposed taking into account the nonlinearities in vehicle dynamics at the limits of handling as well as the crucial actuator constraints. Controllers with different actuation formulations are presented and compared to study the path-tracking performance of the vehicle with different levels of actuation. The controllers are implemented in a high-fidelity simulation environment considering scenarios of vehicle handling limits. According to the simulation results, the vehicle achieves the best overall path-tracking performance with combined 4WS and TV, which illustrates that the over-actuation topology can enhance the path-tracking performance during conditions under the limits of handling. In addition, the performance of the over-actuation controller is further assessed with different sampling times as well as prediction horizons in order to investigate the effect of such parameters on the control performance, and its capability for real-time execution. In the end, the over-actuation control strategy is implemented on a target machine for real-time validation. The control formulation proposed in this paper is proven to be compatible with different levels of actuation, and it is also demonstrated in this work that it is possible to include the particular over-actuation formulation and specific nonlinear vehicle dynamics in real-time operation, with the sampling time and prediction time providing a compromise between path-tracking performance and computational time. Full article
(This article belongs to the Special Issue Sensor Fusion and Advanced Controller for Connected and Automated Vehicles (Volume II))
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