Ádám Kisari

57195561102

Publications - 8

Stability focused evaluation and tuning of special ground vehicle tracking algorithms

Antal Hiba Ádám Kisari Mihály Nagy Istvan Drotar Erno Simonyi Péter Bauer Gergely Istvan Kuna

Publication Name: IFAC Papersonline

Publication Date: 2023-07-01

Volume: 56

Issue: 2

Page Range: 9282-9287

Description:

This paper deals with a special tracking problem when a ground vehicle should be tracked by a multicopter flying ahead of the vehicle. Pre-designed vehicle route is assumed and the UAV stops or slows down at every intersection to react to route changes. After introducing the problem, the methods applied in a real flight demonstration in the Smart City module of ZalaZONE proving ground are presented. Then new methods are introduced to possibly improve performance. The main focus of the article is the evaluation of the stability of the methods and the provision of tuning guidelines. All of the introduced methods is tuned based-on the guidelines considering real ground vehicle test data and the high fidelity simulation of the applied multicopter. The two best methods are compared in detail and guidelines of their applicability are provided.

Open Access: Yes

DOI: 10.1016/j.ifacol.2023.10.212

Encounter Risk Evaluation with a Forerunner UAV

Antal Hiba Ádám Kisari Mihály Nagy Istvan Drotar Erno Simonyi Péter Bauer Gergely Istvan Kuna Ákos Zarándy

Publication Name: Remote Sensing

Publication Date: 2023-03-01

Volume: 15

Issue: 6

Page Range: Unknown

Description:

Forerunner UAV refers to an unmanned aerial vehicle equipped with a downward-looking camera flying in front of the advancing emergency ground vehicles (EGV) to notify the driver about the hidden dangers (e.g., other vehicles). A feasibility demonstration in an urban environment having a multicopter as the forerunner UAV and two cars as the emergency and dangerous ground vehicles was done in ZalaZONE Proving Ground, Hungary. After the description of system hardware and software components, test scenarios, object detection and tracking, the main contribution of the paper is the development and evaluation of encounter risk decision methods. First, the basic collision risk evaluation applied in the demonstration is summarized, then the detailed development of an improved method is presented. It starts with the comparison of different velocity and acceleration estimation methods. Then, vehicle motion prediction is conducted, considering estimated data and its uncertainty. The prediction time horizon is determined based on actual EGV speed and so braking time. If the predicted trajectories intersect, then the EGV driver is notified about the danger. Some special relations between EGV and the other vehicle are also handled. Tuning and comparison of basic and improved methods is done based on real data from the demonstration. The improved method can notify the driver longer, identify special relations between the vehicles and it is adaptive considering actual EGV speed and EGV braking characteristics; therefore, it is selected for future application.

Open Access: Yes

DOI: 10.3390/rs15061512

Software-in-the-loop simulation of the forerunner UAV system

Antal Hiba Ádám Kisari Mihály Nagy Istvan Drotar Erno Simonyi Péter Bauer Gergely Istvan Kuna

Publication Name: IFAC Papersonline

Publication Date: 2022-07-01

Volume: 55

Issue: 14

Page Range: 139-144

Description:

The forerunner UAV means a camera equipped drone flying in front of the advancing first responder units to increase driver situational awareness with an aerial view of the traffic situation and notification about imminent dangers. This article presents the software-in-the-loop (SIL) simulation of the concept including UNREAL4-Carla as the virtual reality environment with a firetruck driven through a game controller, the Matlab simulation of the DJI M600 forerunner hexacopter with UDP communication between firetruck and M600 and the real-time AI processing of synthetic images to detect ground vehicles and pedestrians. The target of SIL development is threefold. First, to test M600 autopilot and Al-based object detection in close to realistic conditions before the real flights. Second, to make an exhaustive feasibility study of the whole forerunner concept with several simulated situations. Third, to generate the required large amount of image data for AI object detection tuning. After introducing all parts of the SIL simulation the article presents an illustrative example evaluating the tracking of the ground vehicle with the M600 and the inference system results.

Open Access: Yes

DOI: 10.1016/j.ifacol.2022.07.596

Data-driven linear parameter-varying modelling of the steering dynamics of an autonomous car

Gabor Rodonyi R. Tóth Peter Koros Dániel Pup Ádám Kisari Zsombor Vigh J. Bokor

Publication Name: IFAC Papersonline

Publication Date: 2021-07-01

Volume: 54

Issue: 8

Page Range: 20-26

Description:

Developing automatic driving solutions and driver support systems requires accurate vehicle specific models to describe and predict the associated motion dynamics of the vehicle. Despite of the mature understanding of ideal vehicle dynamics, which are inherently nonlinear, modern cars are equipped with a wide array of digital and mechatronic components that are difficult to model. Furthermore, due to manufacturing, each car has its personal motion characteristics which change over time. Hence, it is important to develop data-driven modelling methods that are capable to capture from data all relevant aspects of vehicle dynamics in a model that is directly utilisable for control. In this paper, we show how Linear Parameter-Varying (LPV) modelling and system identification can be applied to reliably capture personalised model of the steering system of an autonomous car based on measured data. Compared to other nonlinear identification techniques, the obtained LPV model is directly utilisable for powerful controller synthesis methods of the LPV framework.

Open Access: Yes

DOI: 10.1016/j.ifacol.2021.08.575

Identification of the nonlinear steering dynamics of an autonomous vehicle

Gabor Rodonyi R. Tóth M. Schoukens Peter Koros Dániel Pup Ádám Kisari G. I. Beintema Zsombor Vigh Alexandros Soumelidis J. Bokor

Publication Name: IFAC Papersonline

Publication Date: 2021-07-01

Volume: 54

Issue: 7

Page Range: 708-713

Description:

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model, manufactures do not disclose all details required for modelling and even existing models of subcomponents require coefficient estimation to match the specific characteristics of each vehicle and their change over time. Hence, it is attractive to use data-driven modelling to capture the relevant vehicle dynamics and synthesise model-based control solutions. In this paper, we address identification of the steering system of an autonomous car based on measured data. We show that the underlying dynamics are highly nonlinear and challenging to be captured, necessitating the use of data-driven methods that fuse the approximation capabilities of learning and the efficiency of dynamic system identification. We demonstrate that such a neural network based subspace-encoder method can successfully capture the underlying dynamics while other methods fall short to provide reliable results.

Open Access: Yes

DOI: 10.1016/j.ifacol.2021.08.444

The Forerunner UAV Concept for the Increased Safety of First Responders

Antal Hiba Ádám Kisari Mihály Nagy Istvan Drotar Attila Gáti Péter Bauer Balázs Lattes

Publication Name: International Conference on Vehicle Technology and Intelligent Transport Systems Vehits Proceedings

Publication Date: 2021-01-01

Volume: 2021-April

Issue: Unknown

Page Range: 362-369

Description:

This paper proposes a novel Forerunner UAV concept to increase the safety of first responders by monitoring the road in front of their emergency ground vehicle (EGV) and notifying the driver about any violation of his/her right of way or approaching danger. The developments are conducted in an R&D project in Hungary. The proposed UAV for the planned urban demonstration is a hexacopter with triple redundant architecture applying a gimbaled camera to monitor the surroundings. In the cooperative control of the EGV and UAV the UAV must fly in front of the EGV which is possible through wireless communication of route data and velocity. Besides the real system a computer simulation representation is also applied including CARLA and Matlab to make exhaustive tests of the system capabilities. Increased attention is devoted to the possible wireless communication solutions as these are safety critical parts of the system. The article ends with the lists of planned simulation and real test scenarios to evaluate the system.

Open Access: Yes

DOI: DOI not available

Characterization of Model Uncertainty Features Relevant to Model Predictive Control of Lateral Vehicle Dynamics

Gabor Rodonyi Dániel Pup Ádám Kisari Zsombor Vigh Alexandros Soumelidis J. Bokor

Publication Name: 2020 23rd IEEE International Symposium on Measurement and Control in Robotics Ismcr 2020

Publication Date: 2020-10-15

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

The information about a system's dynamics represented by measurement data sets are often confined to regions of restricted operations where the system is not sufficiently excited for model identification purposes. Experiments performed in closed-loop with safety constraints allow only for reduced order modeling. In the paper, a set of low order models are identified from real experimental data of the lateral dynamics of an electric passenger car. Low order models are advantageous for on-line computation in model-based control, though uncertainty due to neglected dynamics may deteriorate control performance and constraint satisfaction. The effect of uncertainty is analyzed by controller cross-validation where a controller designed based on one model is evaluated on other models playing the role of the true system. This method allows us to qualify not only model-controller pairs, but to determine the properties of input data and model uncertainty, which lead to more useful data sets, more robust and better performing controllers than the others.

Open Access: Yes

DOI: 10.1109/ISMCR51255.2020.9263745

Experimental verification of a control system for autonomous navigation

Gabor Rodonyi Peter Koros Dániel Pup Ádám Kisari Benedek Szucs Alexandros Soumelidis J. Bokor

Publication Name: IFAC Papersonline

Publication Date: 2020-01-01

Volume: 53

Issue: 2

Page Range: 14273-14278

Description:

A flexible architecture is developed with the purpose of supporting education and research on the field of autonomous vehicles. A pure electric vehicle is equipped with on-board computational units, sensors and actuator interfaces. This paper presents the current status of the control system and its validation by means of navigation experiments. With the cascade control architecture, problems of actuator dead-zone, sensor offset errors, path tracking and redesign for obstacle avoidance are addressed.

Open Access: Yes

DOI: 10.1016/j.ifacol.2020.12.1171