TY - INPR A1 - Kalyanasundaram, Abinav A1 - Chandra Sekaran, Karthikeyan A1 - Stäuber, Philipp A1 - Lange, Michael A1 - Utschick, Wolfgang A1 - Botsch, Michael T1 - Uncertainty-Aware Hybrid Machine Learning in Virtual Sensors for Vehicle Sideslip Angle Estimation N2 - Precise vehicle state estimation is crucial for safe and reliable autonomous driving. The number of measurable states and their precision offered by the onboard vehicle sensor system are often constrained by cost. For instance, measuring critical quantities such as the Vehicle Sideslip Angle (VSA) poses significant commercial challenges using current optical sensors. This paper addresses these limitations by focusing on the development of high-performance virtual sensors to enhance vehicle state estimation for active safety. The proposed Uncertainty-Aware Hybrid Learning (UAHL) architecture integrates a machine learning model with vehicle motion models to estimate VSA directly from onboard sensor data. A key aspect of the UAHL architecture is its focus on uncertainty quantification for individual model estimates and hybrid fusion. These mechanisms enable the dynamic weighting of uncertainty-aware predictions from machine learning and vehicle motion models to produce accurate and reliable hybrid VSA estimates. This work also presents a novel dataset named Real-world Vehicle State Estimation Dataset (ReV-StED), comprising synchronized measurements from advanced vehicle dynamic sensors. The experimental results demonstrate the superior performance of the proposed method for VSA estimation, highlighting UAHL as a promising architecture for advancing virtual sensors and enhancing active safety in autonomous vehicles. UR - https://doi.org/10.48550/arXiv.2504.06105 Y1 - 2025 UR - https://doi.org/10.48550/arXiv.2504.06105 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-59578 PB - arXiv CY - Ithaca ER - TY - CHAP A1 - Riegl, Peter A1 - Chandra Sekaran, Karthikeyan A1 - Botsch, Michael T1 - Generation of realistic traffic scenarios for virtual and real test drives based on a hybrid machine learning framework T2 - 2024 IEEE International Conference on Vehicular Electronics and Safety (ICVES) UR - https://doi.org/10.1109/ICVES61986.2024.10927934 Y1 - 2025 UR - https://doi.org/10.1109/ICVES61986.2024.10927934 SN - 979-8-3503-8727-8 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Chandra Sekaran, Karthikeyan A1 - Balasubramanian, Lakshman A1 - Botsch, Michael A1 - Utschick, Wolfgang T1 - Metric Learning Based Class Specific Experts for Open-Set Recognition of Traffic Participants in Urban Areas Using Infrastructure Sensors T2 - IEEE IV 2023 Symposium Proceedings UR - https://doi.org/10.1109/IV55152.2023.10186527 KW - Measurement KW - Head KW - Urban areas KW - Object detection KW - Thermal sensors KW - Cameras KW - Sensor systems Y1 - 2023 UR - https://doi.org/10.1109/IV55152.2023.10186527 SN - 979-8-3503-4691-6 SN - 2642-7214 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Botsch, Michael A1 - Huber, Werner A1 - Balasubramanian, Lakshman A1 - Flores Fernandez, Alberto A1 - Geisler, Markus A1 - Gudera, Christian A1 - Morales Gomez, Mauricio Rene A1 - Riegl, Peter A1 - Sánchez Morales, Eduardo A1 - Chandra Sekaran, Karthikeyan A1 - Weinzierl, Michael T1 - Data Collection and Safety Use Cases in Smart Infrastructures T2 - 15th International ACM Conference on Automotive User Interfaces: Adjunct Conference Proceedings UR - https://doi.org/10.1145/3581961.3609858 KW - smart infrastructure KW - infrared camera KW - LiDAR sensor KW - sensor data fusion KW - safety use case Y1 - 2023 UR - https://doi.org/10.1145/3581961.3609858 SN - 979-8-4007-0112-2 SP - 333 EP - 336 PB - ACM CY - New York ER - TY - CHAP A1 - Chandra Sekaran, Karthikeyan A1 - Balasubramanian, Lakshman A1 - Botsch, Michael A1 - Utschick, Wolfgang T1 - Open-Set Object Detection for the Identification and Localization of Dissimilar Novel Classes by means of Infrastructure Sensors T2 - 2024 IEEE Intelligent Vehicles Symposium (IV) UR - https://doi.org/10.1109/IV55156.2024.10588872 Y1 - 2024 UR - https://doi.org/10.1109/IV55156.2024.10588872 SN - 979-8-3503-4881-1 SP - 1643 EP - 1650 PB - IEEE CY - Piscataway ER - TY - INPR A1 - Chandra Sekaran, Karthikeyan A1 - Geisler, Markus A1 - Rößle, Dominik A1 - Mohan, Adithya A1 - Cremers, Daniel A1 - Utschick, Wolfgang A1 - Botsch, Michael A1 - Huber, Werner A1 - Schön, Torsten T1 - UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections for Cooperative Perception UR - https://doi.org/10.48550/arXiv.2510.23478 Y1 - 2025 UR - https://doi.org/10.48550/arXiv.2510.23478 PB - arXiv CY - Ithaca ER -