Péter Gáspár

Hungarian Academy of Sciences | HAS · Institute for Computer Science and Control

Pathogenic Leptospira are spirochetes that cause leptospirosis, a worldwide zoonotic disease. Leptospirosis affects humans and animals, with approximately 1 million human infections and 60,000 deaths per year. The diversity of leptospiral strains and serovars allied to the fact that pathogenesis is not yet fully understood, make the development of...

Disclosure: J.P. del Rio: None. R. Gonzalo: None. M. Maliqueo: None. B. Echiburu: None. A. Ladron de Guevara: None. P. Gaspar: None. M. Alejandro: None. N.R. Crisosto: None. Introduction: Polycystic Ovarian Syndrome (PCOS) is the most prevalent endocrine disorder in adolescents. PCOS is characterized by hyperandrogenism, which can modulate brain ma...

Disclosure: J.P. del Rio: None. R. Gonzalo: None. M. Maliqueo: None. B. Echiburu: None. A. Ladron de Guevara: None. P. Gaspar: None. M. Alejandro: None. N.R. Crisosto: None. Introduction: Polycystic Ovarian Syndrome (PCOS) is the most prevalent endocrine disorder in adolescents. PCOS is characterized by hyperandrogenism, which can modulate brain ma...

In the paper, a lateral control strategy is presented using Physics-Informed Neural Network (PINN) for automated vehicles. The main idea is that the physics information is incorporated into the training process, which leads to an improvement in the performance level of the control algorithm. Moreover, in the highly nonlinear range of the lateral dy...

This paper presents a slip control design method for a four wheel driven electric race car with low hardware requirements. In addition, to achieve robustness against the changing frictional conditions, a discrete-time Luenberger tractive force observer is designed. The tuning is carried out using the high-precision vehicle dynamics simulation softw...

This research focuses on controlling the motion trajectory of autonomous vehicles by using a combination of two high-performance control methods: Linear Parameter Varying (LPV) and Reinforcement Learning (RL). First, a single-track motion model is researched and developed with coordinate systems to determine the car's motion trajectory through sign...

A wheelchair is a special form of Personal Mobility Vehicle (PMV) for people with disabilities to help them move safely to their desired location. However, unlike conventional PMVs, wheelchairs for people with disabilities when moving in places with heavy traffic will be difficult to control manually. This study focuses on the designing and feasibi...

Introduction Polycystic Ovarian Syndrome (PCOS) is the most prevalent endocrine disorder in adolescents. It affects brain maturation, specially in highly neuronal plasticity periods However, there is a lack of information about the impact of this exposure during brain plasticity windows. Objectives Characterize the consequences of hyperandrogenism...

This experimental study aimed to develop a model recipe for mini donuts as a nutritious snack for secondary school learners. The research was conducted during the S.Y. 2023-2024 at Taliktik Integrated School. The products were subjected to sensory evaluation using the 9-point Hedonic Scale acceptability test in terms of color/appearance, odor/aroma...

This is a phenomenological study of the lived experiences of released inmates from the time they are convicted and incarcerated up to the time they are liberated. Phenomenological interviewing was used in data gathering to describe the meaning of the phenomenon. In-depth interviews were conducted to arrive at the three phases of data collection nee...

This study delves into the experiences of drug surrenderees in highly urbanized cities in Cebu. It further described the experiences of the informants during their engagement with drugs and after their surrender and the impact of the PNP double barrel program on the lives of the informants. It utilized the qualitative research method employing the...

Based on the heavy vehicle model, including a single unit heavy vehicle model and a tractor semi-trailer built in the Chap. 2, the robust control method \(H_{\infty }\) for the LTI is used to design the controller for the active anti-roll bar system. First, the previous background studies in this approach are mentioned, and the theoretical basis of...

Automotive models, in general, and heavy vehicle models, in particular, play an extremely important role in understanding the roll stability characteristics of the active anti-roll bar system. The model must clearly satisfy the characteristics of the object and be convenient for research, therefore, this chapter focuses on building Yaw-Roll models...

The active anti-roll bar system plays an important role in improving the roll stability to prevent the vehicle rollover phenomenon, especially for heavy vehicles. The content of this chapter covers the history of its creation and development, from research studies in industry and academia, as well as the roll stability characteristics of automobile...

The aim of this book is to discuss the active anti-roll bar control problem to improve the roll stability of heavy vehicles.

This chapter presents a methodology to design an \(H_{\infty }/LPV\) controller for the active anti-roll bar system. The control-oriented model and the fully integrated single unit heavy vehicle model, including the Yaw-Roll model and four ESVH actuator models are used. The nonlinear model of the vehicle is considered as an LPV model and the contro...

This chapter presents the validation of the \(H_{\infty }/LTI\) and \(H_{\infty }/LPV\) active anti-roll bar controllers proposed in Chaps. 4 and 5 by using the nonlinear vehicle model of \(\text{ TruckSim }\)® software. Three co-simulation programs between Matlab/Simulink and TruckSim are built for three typical heavy vehicles: a tour bus, an LCF...

The main content of this chapter deals with the design of the optimal controller LQR for the active anti-roll bar system on single unit heavy vehicles and tractor semi-trailers with rigid and flexible frames. First, the theoretical basis of optimal control is synthesized as the basis for the design of the controllers. Then how to design the control...

The paper looks at certain vehicle-level re-routing issues within urban road networks, and related network-level traffic management issues. These arise mostly when the traffic along a route of significance is hindered, slowed down, or even blocked because of some – possibly minor – unexpected, nonrecurring traffic incident at a sensitive road locat...

Traffic simulation experiments were carried out for an urban road network to explore the effect of road vehicles’ individual traffic congestion avoidance efforts, in which on-board visual line-of-sight (LoS) exteroceptive sensors (ECSs) and related on-board traffic congestion detection (OTCD) capabilities are put to use on the network level traffic...

The development and testing of automotive perception systems require a large amount of labeled data. The ground truth of the measurement scene is usually generated by manual video annotation. However, besides requiring a lot of manual effort, it can be time-consuming. Moreover, since the annotation boxes must be transformed into the vehicle's BEV s...

This article presents the in-depth research results concerning the actively controlled suspension system following the Hybrid Active Suspension System (HASS) in vehicles. Initially, detailed introductions are provided for the controller and actuator of this suspension system model. Afterward, the HASS model is proposed for application to the Active...

The paper introduces a high level speed control method for the coordination of multiple autonomous vehicles (AVs) in roundabout scenarios. The aim of the control method is to guarantee collision-free motion of the AVs, and similarly, to minimize their traveling time. In the method a priority-based ordering process of the AVs is used, which enforces...

The gradually evolving automated driving and ADAS functions require more enhanced environment perception. The key to reliable environmental perception is large amounts of data that are hard to collect. Several simulators provide realistic, raw sensor data based on physical sensor models. However, besides their high price, they also require very hig...

Standpoints on sexual issues are viewed from several angles. When acted upon, these standpoints are beneficial to the individual and others, but some results may be detrimental. Many studies have been conducted about students’ stances concerning masturbation, pornography, homosexual sex, premarital sex, and extramarital sex. Still, there is no exis...

In various vehicle control problems, the modeling of vehicle dynamics in linear form can be adequate to create control systems. Nevertheless, the understanding of operation in detail can require nonlinear methods. Especially, in the case of variable-geometry vehicle suspensions, the nonlinear characteristics of lateral tire forces request enhanced...

In this chapter, a control design structure for variable-geometry suspension systems is proposed, in which structure non-standard control elements, such as neural networks, can be included. The essential of this structure is that the minimum performance level of selected performances can be guaranteed, even at the undesired operation of the unconve...

This chapter deals with the design of variable-geometry suspension, i.e., suspension structure along with the control design and their interactions are examined, while a simultaneous design method is introduced.

This chapter focuses on the model formulation for achieving independent steering functionality. In the model, the motion dynamics of the suspension and the orientation of the wheel are formulated, i.e., the lateral motion model of the vehicle, in which the variations of camber angle and scrub radius are considered.

It has been revealed from the previous section that numerous subsystems are required for providing an accurate model formulation of variable-geometry vehicle suspensions. Since the dynamics of these systems can be different, e.g., time response, delay, fastness and mathematical structure, it can be beneficial to join them in a hierarchical framewor...

This chapter introduces the implementation of steering control on variable-geometry vehicle suspension, using a one-wheel test bed, which is integrated with a Hardware-in-the-Loop (HiL) framework. A hierarchical control algorithm has been created as a contribution of this chapter, the efficiency of which has been shown during implementation. Contro...

In this chapter of this book, the method of providing performance guarantees on the variable-geometry suspension with an unconventional control agent is proposed. Two types of applications are provided, i.e., the unconventional control agent is a neural network or a direct intervention of the driver. In both applications, guarantees on the lateral...

This chapter proposes model formulation and analysis methods for variable-geometry suspension systems. Thus, the formulation of enhanced methods is proposed, which are based on the extensions of existing lateral vehicle models, and, furthermore, new methods for modeling and analysis are also provided.

This chapter has been motivated the providing of high-precision models for low-level dynamics of variable-geometry vehicle suspensions. The precise positioning of the wheel, such as performing a steering angle, requires precise control-oriented modeling of the test equipment that can be utilized for design purposes.

In the former chapters, various controller designs have been introduced in a hierarchical structure. While the introduced control systems ensure performance and stability, effective coordination of torque vectoring and independent steering can be accomplished through the distribution of steering/force and reconfiguration of the actuators. This chap...

Autonomous vehicles are in the main focus for automotive companies and urban traffic engineers as well. As their penetration rate in traffic becomes more and more pronounced due to improvement in sensor technologies and the corresponding infrastructure, new methods for autonomous vehicle controls become a necessity. For instance, autonomous vehicle...

The availability of road and vehicle data enables the control of road vehicles to adapt for different road irregularities. Vision-based or stored road data inform the vehicle regarding the road ahead and surface conditions. Due to these abilities, the vehicle can be controlled efficiently to deal with different road irregularities in order to impro...

This paper introduces a procedure for controlling autonomous vehicles entering roundabouts. The aim of the centralized controller is to define the velocity profile of each autonomous vehicle by which collisions can be avoided and traveling times can be minimized. To achieve these performances, a model predictive control is introduced based on the s...

This paper proposes a control design framework with guarantees for systems, which contains learning-based control elements. The framework is based on a supervisory control structure, which contains a supervisor, a robust Linear Parameter Varying (LPV) controller and the learning-based control elements. This paper presents the design of a lateral pa...

The introduction of advanced driver assistance systems (ADAS) has changed the way drivers drive their cars. This disruptive technological change has been continuing with burgeon of autonomous driving (AD) systems. Herein, the utility of on-board line-of-sight (LoS) traffic jam and queue detection (TJQD) is assessed via a microscopic traffic simulat...

In this study, the fishing distribution and intensity over the Gorringe bank, a large oceanic underwater mountain located in the NE Atlantic, Natura 2000 Network MPA inside Portugal‘s EEZ is evaluated in the period from 2012 to 2016. Based on the combined analysis of fisheries-dependent data comprising Vessel Monitoring System (VMS), Automatic Iden...

This paper presents an improved wheel odometry model calibration architecture to increase the accuracy and robustness of the motion estimation of vehicles. Wheel odometry is a robust and cost-effective method, but the accuracy of the estimation is limited by the knowledge of the parameter values. These can be estimated from GNSS and IMU measurement...

Safe motion together with improved economy and traveling performance levels are important requirements against automated vehicles. Thus, the design of enhanced control systems is requested, which contain conventional model-based controllers and the use of unconventional approaches, e.g., learning features and cloud-based methods. This paper propose...

Model Free Control (MFC) is a novel technique to overcome some modeling and control challenges of highly nonlinear systems. The MFC control strategy consists of two parts, i.e., ultra-local model-based control and state feedback control. This paper proposes the robust Linear Parameter-Varying (LPV) method for design the state feedback control part...

Reinforcement learning applications are spreading among different domains, including autonomous vehicle control. The diverse situations that can happen during, for instance, at a highway commute are infinite, and with labeled data, the perfect coverage of all use-cases sounds ambitious. However, with the complex tasks and complicated scenarios face...

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In this paper, we present an LMI-based approach for comfort-oriented cruise control of an autonomous vehicle. First, vehicle longitudinal dynamics and a corresponding parameter-dependent state-space representation are explained and discussed. An LMI-based polytopic LQR controller is then designed for the vehicle speed to track the reference value i...

Accurate and cost-effective state estimation is needed to reach self-driving. The well-known GNSS and IMU fusion can be improved by the integration of wheel odometry. The robustness of this type of odometry is increased if both the rear and front wheels are utilized. Furthermore, the method is cost-effective, but for accurate motion estimation, the...

Advanced driver assistance systems and highly automated driving functions require an enhanced frontal perception system. The requirements of a frontal environment perception system cannot be satisfied by either of the existing automotive sensors. A commonly used sensor cluster for these functions consists of a mono-vision smart camera and automotiv...

The recent research in the field of electrical and autonomous vehicles is developing in exciting directions [...]

Establishing the current road type constitutes a significant assistance to car drivers, as, by default, the road type determines the legal speed limit. Although there are GPS- and map-based navigation systems that can retrieve the actual road type and speed limit and some can even access and indicate current traffic volumes, it was our aim to devel...

This study introduces an online reconfigurable road-adaptive semi-active suspension controller that reaches the performance objectives with satisfying the dissipativity constraint. The concept of the model is based on a nonlinear static model of the semi-active Magnetorheological (MR) damper with considering the bi-viscous and hysteretic behaviors...

Model-Free Control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in control systems in order to provide enhanced performance level. The design of MFC is based on an ultra-local model, which is an approximation of the dynamics of the controlled system for a short period of time. This structure also involves a model-b...

In this paper, a neural network-based feedback linearization method is presented for automated vehicle application purposes. The main idea behind this algorithm is to match the dynamics of the nonlinear system to a linear model. The linearization is achieved by the data-driven training process of a neural network in the control structure. Through t...

The paper presents a data-driven modeling approach for a variable-geometry suspension (VGS) system. In the optimization process, a learning-based algorithm is used to select the relevant variables from the measured dataset. The dynamics of the VGS as a polytopic Linear Parameter Varying (LPV) system are formed. The optimized model is written into a...

The paper proposes an adaptive cruise control method for connected and automated vehicles (CAVs) with safety considerations against cyber attacks. A high-level layer is responsible for the computation of energy optimal speed profiles for the CAVs, considering oncoming road information such as terrain characteristics and speed limits. Due to the com...

The improvement of driving comfort and vehicle stability performance is essential for the vehicles, which can be actualized by adaptive semi-active suspension control. Cloud computing allows several features for autonomous vehicles. Implementing the adaptive suspension control using historical road data gathered in the cloud database is one of thes...