Georg Adrian Novotny

Georg Adrian Novotny

Georg Novotny is a part-time lecturer at UAS Technikum Vienna, where he teaches mobile robotics and is actively involved in the development of search and rescue robots. Alongside his work at UAS, he works as a platform engineer at MIC-Cust. Georg is also currently pursuing his PhD at JKU, where he is focused on system identification and parameter estimation of vehicles and robots. With his expertise in robotics and engineering, Georg is dedicated to advancing the field of autonomous systems and developing cutting-edge technologies that improve our lives.

Vehicle Side-Slip Angle Estimation under Snowy Conditions using Machine Learning

Published in Integrated Computer-Aided EngineeringIntegrated Computer-Aided Engineering, 2023

Abstract: Adverse weather conditions, such as snow-covered roads, represent a challenge for autonomous vehicle research. This is particularly challenging as it might cause misalignment between the longitudinal axis of the vehicle and the actual direction of travel. In this paper, we extend previous work in the field of autonomous vehicles on snow-covered roads and present a novel approach for side-slip angle estimation that combines perception with a hybrid artificial neural network pushing the prediction horizon beyond existing approaches. We exploited the feature extraction capabilities of convolutional neural networks and the dynamic time series relationship learning capabilities of gated recurrent units and combined them with a motion model to estimate the side-slip angle. Subsequently, we evaluated the model using the 3DCoAutoSim simulation platform, where we designed a suitable simulation environment with snowfall, friction, and car tracks in snow. The results revealed that our approach outperforms the baseline model for prediction horizons ⩾ 2 seconds. This extended prediction horizon has practical implications, by providing drivers and autonomous systems with more time to make informed decisions, thereby enhancing road safety.

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Bibtex: download

@article{Novotny2023,
  author    = {Novotny, Georg and Liu, Yuzhou and Morales-Alvarez, Walter and W{\"o}ber, Wilfried and Olaverri-Monreal, Cristina},
  title     = {Vehicle side-slip angle estimation under snowy conditions using machine learning},
  journal   = {Integrated Computer-Aided Engineering},
  year      = {2023},
  publisher = {IOS Press},
  volume    = {Preprint},
  pages     = {1-21},
  keywords  = {Vehicle side-slip angle; neural network; motion model; snow},
  note      = {Preprint},
  issn      = {1875-8835},
  doi       = {10.3233/ICA-230727},
  url       = {https://doi.org/10.3233/ICA-230727}
}

Recommended citation: Novotny, G., Liu, Y., Morales-Alvarez, W., Wöber, W., & Olaverri-Monreal, C. (2023). Vehicle side-slip angle estimation under snowy conditions using machine learning. Integrated Computer-Aided Engineering, Preprint, 1–21. https://doi.org/10.3233/ICA-230727