@article{BlankZindler2014, author = {Blank, Andreas and Zindler, Klaus}, title = {Fahrzeugsicherheitssysteme im Test: Mit Lineareinheiten Fußg{\"a}ngerattrappen automatisch f{\"u}hren - Realistische Bewegungen}, series = {KEM - Konstruktion, Entwicklung, Management}, volume = {2014}, journal = {KEM - Konstruktion, Entwicklung, Management}, number = {6}, publisher = {Kohlhammer}, pages = {20 -- 21}, year = {2014}, subject = {Fahrerassistenzsystem}, language = {de} } @article{ZindlerBlank2014, author = {Zindler, Klaus and Blank, Andreas}, title = {Fahrzeugsicherheitssysteme im Test: Fußg{\"a}ngerattrappen realistisch mit Lineareinheiten bewegen}, series = {Antriebstechnik}, volume = {2014}, journal = {Antriebstechnik}, number = {9}, publisher = {Vereinigte Fachverlage}, pages = {34 -- 36}, year = {2014}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{HahnZindler2012, author = {Hahn, Stefan and Zindler, Klaus}, title = {Automatisierter Test von Fahrzeugsicherheitssystemen}, series = {25. Fachtagung des Arbeitskreises „Mechatronik an Hochschulen"}, booktitle = {25. Fachtagung des Arbeitskreises „Mechatronik an Hochschulen"}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @misc{HahnZindler2013, author = {Hahn, Stefan and Zindler, Klaus}, title = {Fahren ohne Fahrer - Automatisiertes Testen von Fahrzeugsicherheitssystemen}, series = {Vortragsreihe „Technik begeistert" der Volkshochschule Aschaffenburg}, journal = {Vortragsreihe „Technik begeistert" der Volkshochschule Aschaffenburg}, year = {2013}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{HahnZindlerSchulte2013, author = {Hahn, Stefan and Zindler, Klaus and Schulte, Mark}, title = {Automated Testing of forward-looking Vehicle Safety Systems in Driving Tests}, series = {1st SafetyAssist - Test \& Simulation Conference}, booktitle = {1st SafetyAssist - Test \& Simulation Conference}, year = {2013}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{HahnZindler2013, author = {Hahn, Stefan and Zindler, Klaus}, title = {Steuerungs- und Regelungskonzepte zur automatisierten Funktionspr{\"u}fung vorausschauender Fahrzeugsicherheitssysteme}, series = {Dresdner Automatisierungstechnisches Kolloquium}, booktitle = {Dresdner Automatisierungstechnisches Kolloquium}, year = {2013}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{Zindler2002, author = {Zindler, Klaus}, title = {Funktionsentwurf und Konzepterprobung aktiver Federungssysteme}, series = {11. Aachener Kolloquium Fahrzeug- und Motorentechnik}, volume = {2002}, booktitle = {11. Aachener Kolloquium Fahrzeug- und Motorentechnik}, pages = {1025 -- 1042}, year = {2002}, subject = {Kraftfahrzeug}, language = {de} } @book{Zindler1999, author = {Zindler, Klaus}, title = {Nutzung der Freiheitsgrade f{\"u}r den Entwurf robust stabiler Regelungen bei strukturierter und unstrukturierter Modellunsicherheit}, publisher = {Shaker}, address = {Aachen}, isbn = {3-8265-6399-9}, year = {1999}, subject = {Mehrgr{\"o}ßenregelungssystem}, language = {de} } @inproceedings{HahnHeinleinZindler2012, author = {Hahn, Stefan and Heinlein, Sven and Zindler, Klaus}, title = {Regelung von Testfahrzeugen und Testvorrichtungen zur Funktionspr{\"u}fung vorausschauender Fahrzeugsicherheits- und Fußg{\"a}ngerschutzsysteme}, series = {28. VDI/VW-Gemeinschaftstagung Fahrerassistenz und Integrierte Sicherheit, Wolfsburg, VDI-Berichte Nr. 2166}, booktitle = {28. VDI/VW-Gemeinschaftstagung Fahrerassistenz und Integrierte Sicherheit, Wolfsburg, VDI-Berichte Nr. 2166}, publisher = {VDI Verlag}, isbn = {978-3-18-092166-2}, pages = {367 -- 374}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @article{ZindlerFischerCzinkietal.2008, author = {Zindler, Klaus and Fischer, Peter and Czinki, Alexander and Bruhm, Hartmut}, title = {Kontakte, Methoden, Werkzeuge, Anwendungen - Ein integrierter Ansatz in der Automatisierungstechnik der FH Aschaffenburg}, series = {Elektrotechnik - Sonderheft Automation Valley Nordbayern}, journal = {Elektrotechnik - Sonderheft Automation Valley Nordbayern}, number = {604}, pages = {16 -- 18}, year = {2008}, subject = {Automatisierungstechnik}, language = {de} } @article{HahnHeinleinZindler2012, author = {Hahn, Stefan and Heinlein, Sven and Zindler, Klaus}, title = {Pr{\"u}fmethoden f{\"u}r vorausschauende Fahrzeugsicherheitssysteme}, series = {ATZ-Automobiltechnische Zeitschrift}, volume = {2012}, journal = {ATZ-Automobiltechnische Zeitschrift}, number = {11}, publisher = {Springer Automotive Media}, doi = {10.1007/s35148-012-0494-9}, pages = {840 -- 844}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{ZindlerFischerCzinkietal.2009, author = {Zindler, Klaus and Fischer, Peter and Czinki, Alexander and Bruhm, Hartmut}, title = {Automatisierungstechnik an der Hochschule Aschaffenburg. Kompetenzen, Projekte, Kooperationsm{\"o}glichkeiten}, series = {Beitrag zum Hochschulforum Automatisierungstechnik an der Hochschule Rhein Main, Netzwerk Automatisierungsregion Rhein Main Neckar, Wiesbaden}, booktitle = {Beitrag zum Hochschulforum Automatisierungstechnik an der Hochschule Rhein Main, Netzwerk Automatisierungsregion Rhein Main Neckar, Wiesbaden}, year = {2009}, subject = {Automatisierungstechnik}, language = {de} } @inproceedings{ZindlerFischerBruhm2007, author = {Zindler, Klaus and Fischer, Peter and Bruhm, Hartmut}, title = {Informations- und Automatisierungstechnik an der FH Aschaffenburg - Moderne Software-Tools in der Lehre}, series = {Tagungsband, Forum Steuerungssoftware, Cluster Mechatronik und Automation sowie Kompetenznetz Mechatronik und Automation Bayerischer Untermain, Großwallstadt}, booktitle = {Tagungsband, Forum Steuerungssoftware, Cluster Mechatronik und Automation sowie Kompetenznetz Mechatronik und Automation Bayerischer Untermain, Großwallstadt}, year = {2007}, subject = {Informationstechnik}, language = {de} } @article{ZindlerHahnZechaetal.2012, author = {Zindler, Klaus and Hahn, Stefan and Zecha, Stephan and J{\"u}rgens, Gunnar}, title = {Querdynamische Fahrzeugf{\"u}hrung zur reproduzierbaren Erprobung von Sicherheitssystemen}, series = {at-Automatisierungstechnik}, volume = {60}, journal = {at-Automatisierungstechnik}, number = {2}, publisher = {De Gruyter}, doi = {10.1524/auto.2012.0973}, pages = {61 -- 73}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @article{ZindlerHahnHerrmann2012, author = {Zindler, Klaus and Hahn, Stefan and Herrmann, Ralf}, title = {Querdynamische Zustandssch{\"a}tzung}, series = {Hanser automotive electronics systems}, volume = {2012}, journal = {Hanser automotive electronics systems}, number = {3/4}, pages = {27 -- 31}, year = {2012}, subject = {Personenkraftwagen}, language = {de} } @article{BlankHahnHeinleinetal.2015, author = {Blank, Andreas and Hahn, Stefan and Heinlein, Sven and Zindler, Klaus}, title = {Development of a test rig for the precise positioning of a pedestrian dummy in driving tests}, series = {International Journal of Vehicle Safety}, volume = {2015}, journal = {International Journal of Vehicle Safety}, number = {2}, publisher = {Inderscience Enterprises}, pages = {144 -- 164}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {en} } @article{BlankZindler2015, author = {Blank, Andreas and Zindler, Klaus}, title = {Vorsicht, Auto - Lineareinheiten bewegen Fußg{\"a}ngerattrappen}, series = {mda - messtec drives Automation}, volume = {23}, journal = {mda - messtec drives Automation}, number = {3}, publisher = {Wiley-VCH Verlag}, pages = {28 -- 29}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {de} } @article{HeinleinHahnZindler2015, author = {Heinlein, Sven and Hahn, Stefan and Zindler, Klaus}, title = {Control methods for automated testing of preventive pedestrian protection systems}, series = {International Journal of Vehicle Systems Modelling and Testing}, volume = {10}, journal = {International Journal of Vehicle Systems Modelling and Testing}, number = {2}, publisher = {Inderscience Enterprises}, pages = {127 -- 147}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {en} } @article{HahnZindlerJumar2015, author = {Hahn, Stefan and Zindler, Klaus and Jumar, Ulrich}, title = {Nonlinear model-based track guidance of user-defined points at the vehicle front}, series = {Control Engineering Practice}, volume = {2015}, journal = {Control Engineering Practice}, number = {August}, publisher = {Elsevier}, pages = {98 -- 112}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {de} } @techreport{ZindlerHahnHeinleinetal.2014, author = {Zindler, Klaus and Hahn, Stefan and Heinlein, Sven and Geiß, Niklas}, title = {Regelung von Testfahrzeugen und Testvorrichtungen zur standardisierten Funktions{\"u}berpr{\"u}fung vorausschauender Fahrzeugsicherheits- und Fußg{\"a}ngerschutzsysteme}, year = {2014}, subject = {Fahrerassistenzsystem}, language = {de} } @misc{ZindlerSchreinerPfenning2012, author = {Zindler, Klaus and Schreiner, Brian and Pfenning, Fabian}, title = {Autonome Ausweichman{\"o}ver zum Schutz von Fußg{\"a}ngern}, series = {Seminar "Fahrzeugregel- und Fahrzeugsicherheitssysteme"}, volume = {2012}, journal = {Seminar "Fahrzeugregel- und Fahrzeugsicherheitssysteme"}, number = {November}, address = {Obernburg}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @misc{ZindlerKocherscheidt2004, author = {Zindler, Klaus and Kocherscheidt, Hans}, title = {Aktive Fahrzeug-Radaufh{\"a}ngung mit einem Linearmotor}, year = {2004}, subject = {Elektrolinearmotor}, language = {de} } @misc{ZindlerKocherscheidt2005, author = {Zindler, Klaus and Kocherscheidt, Hans}, title = {Active vehicle wheel suspension having a linear motor}, year = {2005}, subject = {Elektrolinearmotor}, language = {de} } @inproceedings{HahnZindlerJumar2015, author = {Hahn, Stefan and Zindler, Klaus and Jumar, Ulrich}, title = {Ein neues Regelungskonzept zur Funktionspr{\"u}fung vorausschauender Fahrzeugsicherheits- und Fußg{\"a}ngerschutzsysteme im automatisierten Fahrversuch}, series = {7. Tagung Fahrerassistenz}, volume = {2015}, booktitle = {7. Tagung Fahrerassistenz}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{Zindler2001, author = {Zindler, Klaus}, title = {Entwicklungspotential aktiver Fahrzeugfederungen}, series = {IFAT-Kolloquium, Otto-von-Guericke-Universit{\"a}t Magdeburg}, booktitle = {IFAT-Kolloquium, Otto-von-Guericke-Universit{\"a}t Magdeburg}, year = {2001}, subject = {Kraftfahrzeugfederung}, language = {de} } @article{KornZindler1997, author = {Korn, Ulrich and Zindler, Klaus}, title = {Vollst{\"a}ndig Modale Synthese robust stabiler Ausgangsr{\"u}ckf{\"u}hrungen unter Verwendung eines H∞-Kostenfunktionals}, series = {at - Automatisierungstechnik}, volume = {45}, journal = {at - Automatisierungstechnik}, number = {6}, publisher = {De Gruyter}, doi = {10.1524/auto.1997.45.6.290}, pages = {290 -- 298}, year = {1997}, subject = {Robuste Regelung}, language = {de} } @inproceedings{KornZindler1999, author = {Korn, Ulrich and Zindler, Klaus}, title = {Entwurf robust stabiler linearer Regler bei parametrischer Modellunsicherheit mittels Vollst{\"a}ndiger Modaler Synthese}, series = {VDI/VDE GMA-Fachausschuss 1.4 "Theoretische Verfahren der Regelunsgtechnik", Workshop Interlaken, Schweiz, September 1999}, booktitle = {VDI/VDE GMA-Fachausschuss 1.4 "Theoretische Verfahren der Regelunsgtechnik", Workshop Interlaken, Schweiz, September 1999}, year = {1999}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1997, author = {Zindler, Klaus and Korn, Ulrich}, title = {An H∞-based approach to complete modal synthesis confirming robust steady state accuracy}, series = {Proceedings of the IFAC Conference On Control Of Industrial Systems, "Control for the Future and Youth", Belfort, France, 20.-22. Mai 1997}, volume = {1997}, booktitle = {Proceedings of the IFAC Conference On Control Of Industrial Systems, "Control for the Future and Youth", Belfort, France, 20.-22. Mai 1997}, number = {30(6)}, publisher = {PERGAMON, an Imprint of Elsevier Science}, issn = {1474-6670}, pages = {635 -- 640}, year = {1997}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1997, author = {Zindler, Klaus and Korn, Ulrich}, title = {An H∞-based approach to complete modal synthesis of low order, robust controllers}, series = {Proceedings and Preprints of the 1997 Advanced Summer Institute - ASI'97, Annual Conference of ESPRIT ICIMS-NOE, Life Cycle Approaches to Production Systems: Management, Control, Supversision, volume 1, Budapest, Hungary, July 1997}, volume = {1997}, booktitle = {Proceedings and Preprints of the 1997 Advanced Summer Institute - ASI'97, Annual Conference of ESPRIT ICIMS-NOE, Life Cycle Approaches to Production Systems: Management, Control, Supversision, volume 1, Budapest, Hungary, July 1997}, year = {1997}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1997, author = {Zindler, Klaus and Korn, Ulrich}, title = {A general design structure for the complete modal synthesis of robust, dynamic controllers}, series = {Proceedings of the 4th International Symposium on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 1997}, volume = {1997}, booktitle = {Proceedings of the 4th International Symposium on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 1997}, pages = {173 -- 178}, year = {1997}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1996, author = {Zindler, Klaus and Korn, Ulrich}, title = {An H∞-optimization approach to complete modal synthesis of robustly stable output feedback controllers}, series = {Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, September 1996}, volume = {1996}, booktitle = {Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, September 1996}, pages = {377 -- 382}, year = {1996}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1996, author = {Zindler, Klaus and Korn, Ulrich}, title = {Vollst{\"a}ndig Modale Synthese robuster PI-Mehrgr{\"o}ßenregelungen unter Verwendung eines H∞-Kostenfunktionals}, series = {Workshop des VDI/VDE GMA-Fachausschusses 1.4 "Theoretische Verfahren der Regelungstechnik", Interlaken, Schweiz, September 1996}, volume = {1996}, booktitle = {Workshop des VDI/VDE GMA-Fachausschusses 1.4 "Theoretische Verfahren der Regelungstechnik", Interlaken, Schweiz, September 1996}, pages = {253 -- 261}, year = {1996}, subject = {Robuste Regelung}, language = {de} } @inproceedings{ZindlerKorn1996, author = {Zindler, Klaus and Korn, Ulrich}, title = {Vollst{\"a}ndige Modale Synthese robuster Regelungen mittels Optimierung eines H∞-Kostenfunktionals}, series = {30. Regelungstechnisches Kolloquium, Boppard, Februar 1996}, volume = {1996}, booktitle = {30. Regelungstechnisches Kolloquium, Boppard, Februar 1996}, year = {1996}, subject = {Robuste Regelung}, language = {de} } @inproceedings{Zindler2008, author = {Zindler, Klaus}, title = {Federn, D{\"a}mpfen, Stabilisieren - Beispiele f{\"u}r den Einsatz moderner Regelungstechnik in der Mechatronik}, series = {Forum f{\"u}r Forschung und Wirtschaft der Industrievereinigung Odenwaldkreis, Michelstadt, Januar 2008}, volume = {2008}, booktitle = {Forum f{\"u}r Forschung und Wirtschaft der Industrievereinigung Odenwaldkreis, Michelstadt, Januar 2008}, year = {2008}, subject = {Regelungstechnik}, language = {de} } @misc{Zindler2009, author = {Zindler, Klaus}, title = {"Federn, D{\"a}mpfen, Stabilisieren" - Moderne Regelungstechnik in der Mechatronik}, series = {Vortragsreihe "Verstandene Technik Begeistert"}, volume = {2009}, journal = {Vortragsreihe "Verstandene Technik Begeistert"}, address = {Aschaffenburg}, year = {2009}, subject = {Regelungstechnik}, language = {de} } @inproceedings{Zindler2002, author = {Zindler, Klaus}, title = {Erzielbare Komfortverbesserung mit aktiven Federungen unter Verwendung einer Sky-Hook-Regelstrategie}, series = {Vortrag im Forschungs- und Innovationszentrum der BMW AG, M{\"u}nchen, Juni 2002}, volume = {2002}, booktitle = {Vortrag im Forschungs- und Innovationszentrum der BMW AG, M{\"u}nchen, Juni 2002}, year = {2002}, subject = {Kraftfahrzeugfederung}, language = {de} } @misc{Zindler2002, author = {Zindler, Klaus}, title = {Das mechatronische Fahrwerkkonzept}, series = {Vortrag im Forschungs- und Innovationszentrum der BMW AG}, volume = {2002}, journal = {Vortrag im Forschungs- und Innovationszentrum der BMW AG}, number = {Januar}, address = {M{\"u}nchen}, year = {2002}, subject = {Kraftfahrzeug}, language = {de} } @inproceedings{Zindler1997, author = {Zindler, Klaus}, title = {Vollst{\"a}ndige Modale Synthese robuster Regelungen unter Verwendung eines H∞-Kostenfunktionals}, series = {Kolloquium des Deutschen Zentrums f{\"u}r Luft- und Raumfahrt (DLR), Oberpfaffenhofen, April 1997}, volume = {1997}, booktitle = {Kolloquium des Deutschen Zentrums f{\"u}r Luft- und Raumfahrt (DLR), Oberpfaffenhofen, April 1997}, year = {1997}, subject = {Robuste Regelung}, language = {de} } @inproceedings{Zindler1999, author = {Zindler, Klaus}, title = {Eine Strategie zur Erlangung robuster Stabilit{\"a}t unter Nutzung der Freiheitsgrade beim Entwurf f{\"u}r Mehrgr{\"o}ßensysteme}, series = {Kolloquium des Max-Planck-Instituts f{\"u}r Dynamik komplexer technischer Systeme, Magdeburg, Januar 1999}, volume = {1999}, booktitle = {Kolloquium des Max-Planck-Instituts f{\"u}r Dynamik komplexer technischer Systeme, Magdeburg, Januar 1999}, year = {1999}, subject = {Robuste Regelung}, language = {de} } @unpublished{Zindler1994, author = {Zindler, Klaus}, title = {Entwurf einer robusten Regelung nach der µ-Synthese am Beispiel eines prim{\"a}rseitig verstellbaren Hydrogetriebes}, year = {1994}, subject = {Robuste Regelung}, language = {de} } @unpublished{ZindlerKorn1996, author = {Zindler, Klaus and Korn, Ulrich}, title = {An H∞-based approach to complete modal synthesis ensuring robust steady state accuracy}, year = {1996}, subject = {Robuste Regelung}, language = {de} } @unpublished{KornZindler1995, author = {Korn, Ulrich and Zindler, Klaus}, title = {Vollst{\"a}ndige Modale Synthese robuster Regelungen mittels Optimierung eines H∞-Kostenfunktionals}, year = {1995}, subject = {Robuste Regelung}, language = {de} } @misc{ZindlerHahn2012, author = {Zindler, Klaus and Hahn, Stefan}, title = {Automatisierter Test von Fahrzeugsicherheitssystemen}, series = {Seminar "Fahrzeugregel- und Fahrzeugsicherheitssysteme"}, volume = {2012}, journal = {Seminar "Fahrzeugregel- und Fahrzeugsicherheitssysteme"}, number = {November}, address = {Obernburg}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @article{HahnHeinleinZindler2012, author = {Hahn, Stefan and Heinlein, Sven and Zindler, Klaus}, title = {Testing Methods for Forward-looking Safety Systems}, series = {ATZ worldwide}, volume = {114 (2012)}, journal = {ATZ worldwide}, number = {11}, publisher = {Springer Automotive Media}, pages = {4 -- 7}, year = {2012}, subject = {Fahrerassistenzsystem}, language = {de} } @article{ZindlerBlank2014, author = {Zindler, Klaus and Blank, Andreas}, title = {Fußg{\"a}ngerattrappen mit Lineareinheiten realistisch bewegen}, series = {Konstruktion - Sonderausgabe "Special Antriebstechnik"}, volume = {2014}, journal = {Konstruktion - Sonderausgabe "Special Antriebstechnik"}, number = {S2}, publisher = {Springer-VDI-Verlag}, pages = {44 -- 45}, year = {2014}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{KranzHahnZindler2016, author = {Kranz, Tobias and Hahn, Stefan and Zindler, Klaus}, title = {Nonlinear Lateral Vehicle Control in Combined Emergency Steering and Braking Maneuvers}, series = {IEEE Intelligent Vehicles Symposium 2016, Gothenburg, Sweden, 19-22 June, 2016}, volume = {2016}, booktitle = {IEEE Intelligent Vehicles Symposium 2016, Gothenburg, Sweden, 19-22 June, 2016}, doi = {10.1109/IVS.2016.7535449}, pages = {603 -- 610}, year = {2016}, language = {en} } @inproceedings{HahnZindlerJumar2016, author = {Hahn, Stefan and Zindler, Klaus and Jumar, Ulrich}, title = {Two-Degrees-of-Freedom Lateral Vehicle Control using Nonlinear Model Based Disturbance Compensation}, series = {8th IFAC Symposium Advances in Automotive Control, Kolmarden, Sweden, 20-23 June, 2016}, volume = {49}, booktitle = {8th IFAC Symposium Advances in Automotive Control, Kolmarden, Sweden, 20-23 June, 2016}, number = {11}, doi = {10.1016/j.ifacol.2016.08.028}, pages = {182 -- 189}, year = {2016}, language = {en} } @inproceedings{ZindlerGeiss2016, author = {Zindler, Klaus and Geiß, Niklas}, title = {Vehicle Ego-Localization in Autonomous Lane-Keeping Evasive Maneuvers}, series = {8th IFAC Symposium Advances in Automotive Control, Kolmarden, Sweden, 20-23 June, 2016}, volume = {49}, booktitle = {8th IFAC Symposium Advances in Automotive Control, Kolmarden, Sweden, 20-23 June, 2016}, number = {11}, doi = {10.1016/j.ifacol.2016.08.025}, pages = {160 -- 167}, year = {2016}, language = {en} } @article{HahnZindlerJumar2016, author = {Hahn, Stefan and Zindler, Klaus and Jumar, Ulrich}, title = {Nichtlineare Spurf{\"u}hrung benutzerdefinierter Punkte an der Fahrzeugfront}, series = {at - Automatisierungstechnik}, volume = {64}, journal = {at - Automatisierungstechnik}, number = {4}, publisher = {de Gruyter Oldenbourg}, address = {M{\"u}nchen}, doi = {10.1515/auto-2015-0098}, pages = {282 -- 296}, year = {2016}, subject = {Nichtlineare Regelung}, language = {de} } @inproceedings{SauerZindlerGorksetal.2021, author = {Sauer, Timm and Zindler, Klaus and Gorks, Manuel and Spielmann, Luca and Jumar, Ulrich}, title = {Automatic track guidance of industrial trucks using self-learning controllers considering a priori plant knowledge}, series = {IEEE - 5th International Conference on Control Automation and Diagnosis (ICCAD'21), November 3-5, 2021, Grenoble, France}, booktitle = {IEEE - 5th International Conference on Control Automation and Diagnosis (ICCAD'21), November 3-5, 2021, Grenoble, France}, year = {2021}, abstract = {This paper presents a new self-learning control scheme for lateral track guidance of industrial trucks using artificial intelligence. It is an universally applicable lateral dynamic control concept which is able to adapt itself to different truck variants. Moreover it shall consider vehicle parameter variations that occur during operation, such as the load dependent change of vehicle mass and moment of inertia. The proposed approach uses Reinforcement Learning. In order to reduce the training effort, a new concept is realized, taking into account a priori knowledge of vehicle behavior. Its fundamental idea consists of dividing the training process into two steps. In the first step the controller will be pre-trained on basis of a nominal model representing a priori knowledge of lateral dynamic vehicle behavior. Since this model is derived for an industrial truck with average vehicle parameter values, a fine tuning of the control parameters has to be performed in the second step. In this way the controller is adapted to the actual truck variant and the corresponding vehicle parameter values. In order to demonstrate the efficiency of the proposed control scheme, the simulation results given in this paper are compared to the closed loop behavior using standard LQR.}, subject = {Flurf{\"o}rderer}, language = {en} } @inproceedings{SauerGorksSpielmannetal.2022, author = {Sauer, Timm and Gorks, Manuel and Spielmann, Luca and Zindler, Klaus and Jumar, Ulrich}, title = {Automatic track guidance of industrial trucks with time-variant vehicle parameters using AI-based controllers}, series = {Advanes in Automotive Control - AAC}, volume = {2022}, booktitle = {Advanes in Automotive Control - AAC}, pages = {7}, year = {2022}, abstract = {This paper presents an extension of a self-learning control concept for automatic track guidance of industrial trucks in intralogistic systems. The presented approach is based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI) and is able to adapt itself to different industrial truck variants and the associated specific vehicle parameters. Moreover, time-variant parameters during operation, such as the vehicle's velocity are taken into account. In order to consider the existing a priori knowledge of the controlled system and to avoid starting the whole training process of the controller for each truck variant from scratch, the training process is divided into two steps. In the first step, the controller is trained on a model using parameters of a nominal vehicle variant. Based on this, the control parameters are only finetuned in the second step. In this way the controller is adapted to the actual truck variant and the corresponding parameter values. In order to take into account the time-variant vehicle parameters during operation, the Artificial Neural Networks (ANN) of the RL controller and the observation vector are suitably extended. In this way, the varying speed can be considered in both training steps and the control parameters can be optimized accordingly. Thus, in case of the investigated scenarios a stable control loop behavior can be guaranteed for the entire speed range of industrial trucks. In order to demonstrate this, the new approach is compared with a RL control concept, not considering time-variant parameters.}, subject = {K{\"u}nstliche Intelligenz}, language = {en} } @inproceedings{SauerSpielmannGorksetal.2022, author = {Sauer, Timm and Spielmann, Luca and Gorks, Manuel and Zindler, Klaus and Jumar, Ulrich}, title = {Automatic track guidance of industrial trucks using AI-based controllers with disturbance compensation}, series = {61st Annual Conference of the Society of Instrument and Control Engineers (SICE), 6-9 Sept. 2022, Japan}, booktitle = {61st Annual Conference of the Society of Instrument and Control Engineers (SICE), 6-9 Sept. 2022, Japan}, year = {2022}, abstract = {This paper presents a new control concept for automatic track guidance of industrial trucks in intralogistic systems. It is based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI). The presented approach is able to adapt itself to different industrial truck variants and to the associated specific vehicle parameters. In order to avoid starting the whole training of the controller for each truck variant from scratch, the training process is divided into two steps. In the first step, the controller is trained on a model using parameters of a nominal vehicle variant. Based on this, the control parameters are only fine-tuned in the second step. In this way the controller is adapted to the actual truck variant and the corresponding parameter values. Moreover, the influence of the disturbance variable of the system (path curvature) is compensated by considering this a priori knowledge within the control design. Therefore, the Artificial Neural Networks (ANN) of the RL controller and the observation vector are suitably adjusted. In this way, the occurring path curvatures can be considered in both training steps and the control parameters can be optimized accordingly. Thus, the influence of the disturbance variable can be compensated, which significanlty improves the control quality. In order to demonstrate this, the new approach is compared to a RL control concept, not considering the disturbance variable and to a classical two-degrees-of-freedom (2DoF) control approach.}, subject = {K{\"u}nstliche Intelligenz}, language = {en} } @misc{Zindler2018, author = {Zindler, Klaus}, title = {Wohin steuert das automatisierte Fahren?}, organization = {TH Aschaffenburg}, year = {2018}, abstract = {Vortrag}, subject = {Autonomes Fahrzeug}, language = {de} } @inproceedings{Zindler2021, author = {Zindler, Klaus}, title = {Welcome \& Key Research Areas of Aschaffenburg University of Applied Sciences}, series = {Proceedings of International Research Days}, booktitle = {Proceedings of International Research Days}, organization = {TH Aschaffenburg}, year = {2021}, subject = {Hochschule Aschaffenburg}, language = {en} } @inproceedings{ZindlerSauer2021, author = {Zindler, Klaus and Sauer, Timm}, title = {Self learning control for automatic track guidance}, series = {Proceedings of International Research Days}, volume = {2021}, booktitle = {Proceedings of International Research Days}, organization = {TH Aschaffenburg}, pages = {64 -- 64}, year = {2021}, subject = {Autonomes Fahrzeug}, language = {en} } @article{SauerGorksSpielmannetal.2022, author = {Sauer, Timm and Gorks, Manuel and Spielmann, Luca and Zindler, Klaus}, title = {Automatische Spurf{\"u}hrung von Flurf{\"o}rderzeugen mittels KI}, series = {ATZ heavyduty}, volume = {15}, journal = {ATZ heavyduty}, number = {04/2022}, pages = {44 -- 47}, year = {2022}, abstract = {Im Verbundprojekt KAnIS forscht die TH Aschaffenburg mit Linde Material Handling an neuen KI-basierten Algorithmen zur querdynamischen Fahrzeugf{\"u}hrung von Flurf{\"o}rderzeugen. Ziel des Projekts ist die Entwicklung eines universell einsetzbaren Regelungskonzepts, das verschiedene Arten von Flurf{\"o}rderzeugen automatisch f{\"u}hrt, im Betrieb auftretenden Fahrzeugparameterschwankungen gezielt Rechnung tr{\"a}gt und dar{\"u}ber hinaus auch den jeweiligen Fitnesszustand der Fahrzeuge ber{\"u}cksichtigt.}, subject = {Flurf{\"o}rderer}, language = {de} } @article{ZindlerSauerSpielmannetal.2022, author = {Zindler, Klaus and Sauer, Timm and Spielmann, Luca and Gorks, Manuel}, title = {Chancen durch kooperative Logistikflotten}, series = {F{\"o}rdern und Heben}, volume = {2022}, journal = {F{\"o}rdern und Heben}, number = {10}, pages = {36 -- 40}, year = {2022}, abstract = {In Zeiten einer globalen Weltwirtschaft und einem von zunehmendem Wettbewerb gepr{\"a}gten Markt ist die Automatisierung logistischer Prozesse eine Voraussetzung f{\"u}r den Unternehmenserfolg. Vor allem die Steigerung der Produktivit{\"a}t und der Effizienz des innerbetrieblichen Materialflusses nimmt einen hohen Stellenwert ein. Mit dem Einsatz automatisch fahrender Flurf{\"o}rderzeuge (FFZ) l{\"a}sst sich dies erreichen. Als Vision sollten jedoch nicht einzelne automatisch fahrende FFZ gelten. Ziel muss es sein, die Mitglieder einer heterogenen Logistikflotte miteinander zu vernetzen und eine Kommunikations- und Rechenplattform einzurichten. Dies bietet ein großes Potenzial im Hinblick auf die Auftragsplanung zur Verbesserung der Wirtschaftlichkeit sowie in den Bereichen Lokalisierung und Sicherheit zur Optimierung automatisch fahrender FFZ.}, subject = {Flurf{\"o}rderer}, language = {de} } @article{SauerGorksSpielmannetal.2023, author = {Sauer, Timm and Gorks, Manuel and Spielmann, Luca and Zindler, Klaus and Jumar, Ulrich}, title = {Adaptive self-learning controllers with disturbance compensation for automatic track guidance of industrial trucks}, series = {SICE Journal of Control, Measurement and System Integration}, volume = {2023}, journal = {SICE Journal of Control, Measurement and System Integration}, number = {Vol. 16, No. 1}, doi = {10.1080/18824889.2023.2183009}, pages = {84 -- 97}, year = {2023}, abstract = {This paper presents an extended control concept for automatic track guidance of industrial trucks in intralogistic systems. It is based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI). The presented approach is able to adapt itself to different industrial truck variants and to the associated specific vehicle parameters. In order to avoid starting the whole training of the controller for each truck variant from scratch, the training process is divided into two steps. In the first step, the controller is trained on a simplified linear model using parameters of a nominal vehicle variant. Based on this, the control parameters are only fine-tuned in the second step using a more complex nonlinear model, representing the real industrial truck. In this way, the controller is adapted to the actual truck variant and the corresponding parameter values. By using the nonlinear model, it can be ensured that the forklift's dynamic is approximated within the entire operating range, even at high steering angles. Moreover, the influence of the disturbance variable of the system (path curvature) is compensated by considering this a priori knowledge within the control design. Therefore, the Artificial Neural Networks (ANN) of the RL controller and the observation vector are suitably adjusted. In this way, the occurring path curvatures can be considered in both training steps and the control parameters can be optimized accordingly. Thus, the influence of the disturbance variable can be compensated, which significantly improves the control quality. In order to demonstrate this, the new approach is compared to an RL control concept, which is not considering the disturbance variable and to a classical two-degrees-of-freedom (2DoF) control approach.}, subject = {Flurf{\"o}rderer}, language = {en} } @inproceedings{SauerSpielmannGorksetal.2023, author = {Sauer, Timm and Spielmann, Luca and Gorks, Manuel and Zindler, Klaus and Jumar, Ulrich}, title = {Model Predictive Control of Industrial Trucks with AI-based Plant Model Selection}, series = {9th International Conference on Control, Decision and Information Technologies (CoDIT)}, volume = {2023}, booktitle = {9th International Conference on Control, Decision and Information Technologies (CoDIT)}, number = {Conference Proceedings}, doi = {10.1109/CoDIT58514.2023.10284427}, pages = {263 -- 268}, year = {2023}, abstract = {In this paper, a new control concept for automatic track guidance of forklifts within a heterogeneous logistics fleet is presented. The proposed control scheme is universally applicable and based on Artificial Intelligence (AI). The lateral control is realized using a Model Predictive Controller (MPC). In order to take into account the diversity of the industrial truck variants, a multi-model approach is used. Therefore, a plant model for each truck variant is integrated into the MPC. In a practical application, the most suitable model has to be selected. This decision is based on AI in the form of an Artificial Neural Network (ANN). It is able to distinguish the different truck variants based on that part of the plant's state vector, which represents the vehicle dynamic characteristics. Thus, the appropriate model can be used, which significantly improves the control quality and guarantees an accurate track guidance of different forklifts. Due to the AI-based selection of the model, the computational effort can be kept low and real-time capability can be ensured. In order to classify the performance of the proposed control concept, its simulation results are compared to the closed-loop behavior, using a classical MPC.}, subject = {Flurf{\"o}rderer}, language = {en} } @inproceedings{SauerGorksSpielmannetal.2023, author = {Sauer, Timm and Gorks, Manuel and Spielmann, Luca and Hepp, Nils and Zindler, Klaus and Jumar, Ulrich}, title = {AI-based control approaches for lateral vehicle guidance of industrial trucks}, series = {IFAC WC 2023 - The 22nd World Congress of the International Federation of Automatic Control 2023, Yokohama, Japan, 09.07.2023 - 14.07.2023}, booktitle = {IFAC WC 2023 - The 22nd World Congress of the International Federation of Automatic Control 2023, Yokohama, Japan, 09.07.2023 - 14.07.2023}, doi = {https://doi.org/10.1016/j.ifacol.2023.10.1501.}, year = {2023}, abstract = {Two different control concepts for the automatic track guidance of forklifts are proposed. Both approaches are based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI), and are able to take into account time-variant parameters, such as the vehicle velocity, and to reduce the influence of the path curvature, the most important disturbance variable of lateral vehicle control. In the first approach, both, the path curvature and the vehicle velocity signal, are provided to the controller in addition to the state variables of the controlled system. By varying the corresponding parameters in the training process, both signals can be considered and the control parameters can be optimized accordingly. In the second approach, several controllers (multi-model concept) considering the path curvature are used and the varying vehicle velocity is taken into account using a gain-scheduling concept. Considering time-variant vehicle parameters and the influence of the disturbance variable during operation, a stable track guidance is guaranteed within the whole speed range of the industrial trucks.}, subject = {Flurf{\"o}rderer}, language = {en} } @article{SauerZindlerJumar2024, author = {Sauer, Timm and Zindler, Klaus and Jumar, Ulrich}, title = {KI-basierte Regelungskonzepte zur automatischen Spurregelung von Flurf{\"o}rderzeugen}, series = {at - Automatisierungstechnik}, volume = {72}, journal = {at - Automatisierungstechnik}, number = {4}, doi = {https://doi.org/10.1515/auto-2023-0155}, pages = {336 -- 353}, year = {2024}, abstract = {In diesem Beitrag werden zwei KI-basierte Regelungskonzepte zur automatischen Spurf{\"u}hrung von Flurf{\"o}rderzeugen (FFZ) einer heterogenen Logistikflotte vorgestellt. W{\"a}hrend die modellfreien Verfahren des best{\"a}rkenden Lernens f{\"u}r diese Anwendung als Vertreter der direkten neuronalen Regelung vorgestellt werden, l{\"a}sst sich das zweite Regelungskonzept in die Klasse der indirekten neuronalen Regelungen einordnen. Beide Konzepte zeichnen sich dadurch aus, dass sie dazu in der Lage sind, die Reglerparameter an verschiedene Varianten von FFZ anzupassen sowie vorab bekanntes Wissen bez{\"u}glich des Regelstreckenverhaltens beim Entwurf der Regler gezielt zu ber{\"u}cksichtigen.}, subject = {Flurf{\"o}rderer}, language = {de} } @misc{ZindlerDoll2014, author = {Zindler, Klaus and Doll, Konrad}, title = {Starke Partner f{\"u}r eine starke Region}, year = {2014}, abstract = {Vortrag}, subject = {Kraftfahrzeugtechnik}, language = {de} } @inproceedings{ZindlerGeissDolletal.2014, author = {Zindler, Klaus and Geiß, Niklas and Doll, Konrad and Heinlein, Sven}, title = {Real-Time Ego-Motion Estimation using Lidar and a Vehicle Model Based Extended Kalman Filter}, series = {Proceedings of the IEEE 17th International Conference on Intelligent Transportation Systems (ITSC 2014), Qingdao, China, October 8-11, 2014}, volume = {2014}, booktitle = {Proceedings of the IEEE 17th International Conference on Intelligent Transportation Systems (ITSC 2014), Qingdao, China, October 8-11, 2014}, number = {Beitrag Nr. ThA6.1}, publisher = {IEEE}, doi = {10.1109/ITSC.2014.6957728}, pages = {431 -- 438}, year = {2014}, subject = {Kraftfahrzeug}, language = {en} } @inproceedings{KoehlerSchreinerRonalteretal.2013, author = {K{\"o}hler, Sebastian and Schreiner, Brian and Ronalter, Steffen and Doll, Konrad and Brunsmann, Ulrich and Zindler, Klaus}, title = {Autonomous Evasive Maneuvers Triggered by Infrastructure-Based Detection of Pedestrian Intentions}, series = {IEEE Intelligent Vehicles Symposium (IV' 13), Gold Coast, Australien, 23.-26. Juni}, booktitle = {IEEE Intelligent Vehicles Symposium (IV' 13), Gold Coast, Australien, 23.-26. Juni}, issn = {1931-0587}, doi = {10.1109/IVS.2013.6629520}, pages = {519 -- 526}, year = {2013}, subject = {Fahrerassistenzsystem}, language = {en} } @inproceedings{GoldhammerHubertKoehleretal.2014, author = {Goldhammer, Michael and Hubert, Andreas and K{\"o}hler, Sebastian and Zindler, Klaus and Brunsmann, Ulrich and Doll, Konrad and Sick, Bernhard}, title = {Analysis on Termination of Pedestrians' Gait at Urban Intersections}, series = {Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on}, booktitle = {Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on}, publisher = {IEEE}, address = {Qingdao, China}, doi = {10.1109/ITSC.2014.6957947}, pages = {1758 -- 1763}, year = {2014}, subject = {Fahrerassistenzsystem}, language = {en} } @inproceedings{HahnZindlerDolletal.2015, author = {Hahn, Stefan and Zindler, Klaus and Doll, Konrad and Jumar, Ulrich}, title = {New Control Scheme for a Lane-Keeping Evasive Maneuver Exploiting the Free Space Optimally}, series = {Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics,Miedzyzdroje, Poland, 24-27 August, 2015}, booktitle = {Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics,Miedzyzdroje, Poland, 24-27 August, 2015}, pages = {856 -- 861}, year = {2015}, subject = {Fahrerassistenzsystem}, language = {de} } @inproceedings{KoehlerGoldhammerZindleretal.2015, author = {K{\"o}hler, Sebastian and Goldhammer, Michael and Zindler, Klaus and Doll, Konrad and Dietmayer, Klaus}, title = {Stereo-Vision-Based Pedestrian's Intention Detection in a Moving Vehicle}, series = {Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on}, booktitle = {Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on}, doi = {10.1109/ITSC.2015.374}, pages = {2317 -- 2322}, year = {2015}, abstract = {We present a method to detect starting, stopping and bending in intentions of pedestrians from a moving vehicle based on stereo-vision. The method focuses on urban scenarios where these pedestrian movements are common and may result in critical situations. Pedestrian intentions are determined by means of an image-based motion contour histogram of oriented gradient descriptor. It is based on silhouettes gathered from stereo data and does not require any compensation of appearance changes resulting from the ego-motion of a vehicle. Nevertheless, it covers small movements indicating a pedestrian's intention. A linear support vector machine with probabilistic estimates is used for classification. We evaluated our method on the publicly available Daimler Pedestrian Path Prediction Benchmark Dataset containing detections of a stateof-the-art pedestrian detector. We detect a pedestrian's stopping intention from 125 ms to 500 ms before standing still within an accuracy range of 80\% to 100\%. Bending in is detected from 320 ms to 570 ms after a first visible lateral body movement in the same accuracy range. The intention to cross the road from standing still (starting) is detected 250 ms after the first visible motion and, therefore, within the first step with an accuracy of 100\%.}, subject = {Bildfolgenanalyse}, language = {en} } @misc{DollZindler2016, author = {Doll, Konrad and Zindler, Klaus}, title = {Hochautomatisiertes Fahren: Sensorik, Sensordatenverarbeitung und Fahrzeugf{\"u}hrung}, series = {Technologieforum Innovative Sensorik-Anwendungen im Automotive-Bereich}, volume = {2016}, journal = {Technologieforum Innovative Sensorik-Anwendungen im Automotive-Bereich}, year = {2016}, abstract = {Vortrag}, subject = {Autonomes Fahrzeug}, language = {de} } @article{ZindlerDollHuber2017, author = {Zindler, Klaus and Doll, Konrad and Huber, Bertold}, title = {Sicher unterwegs - Fortschritte beim aktiven Fußg{\"a}ngerschutz}, series = {messtec drives Automation}, volume = {25}, journal = {messtec drives Automation}, number = {03}, editor = {WILEY-VCH, Verlag}, pages = {82 -- 82}, year = {2017}, subject = {Fahrerassistenzsystem}, language = {de} }