ArticleBiomimetics (Basel, Switzerland)2026
Operating-Condition Residual Normalization: A Bio-Inspired Operator for Sensor Integrity Monitoring in Automated Vehicles.
Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Bio-inspired integrity monitors for automated vehicles are reported as single pooled detection figures, which conflates algorithmic performance with evaluation protocol. Transferring the reafference principle to inertial-channel integrity, we identify what actually governs the reported figure. A single-track forward model is identified from the data, and its residual is standardized by Operating-Condition Residual Normalization (OCRN), a bin-wise operator conditioned on an observable operating point; the design is resolved by an exhaustive constrained search and each component is isolated using ablation. Across 224,638 samples spanning five towns and four friction levels, the residual scale varies by a factor of 158, and OCRN recovers 21.8 F
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