Adaptive Deep Koopman Operator for Vehicle Dynamics Modeling: A Physics-Informed and Tire-Force-Driven Approach (opens in new tab)

Accurate and adaptive modeling of vehicle dynamics is paramount for the safety of autonomous driving systems, particularly under extreme maneuvers and time-varying parameters. While Deep Koopman operator theory offers a promising global linearization framework, its online application faces a theoretical bottleneck: the high-dimensional lifted state space inherently induces a rank-deficient problem, rendering traditional recursive least squares b...