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Vehicle Lane Position Estimation For Link Level In Vehicle Navigation And Automatic Vehicle Location
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Book Synopsis Vehicle Lane Position Estimation for Link Level In-vehicle Navigation and Automatic Vehicle Location by : Jie Du
Download or read book Vehicle Lane Position Estimation for Link Level In-vehicle Navigation and Automatic Vehicle Location written by Jie Du and published by . This book was released on 2005 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Road Vehicles Localization Using Satellites, Lane Markings and Vision by : Zui Tao
Download or read book Autonomous Road Vehicles Localization Using Satellites, Lane Markings and Vision written by Zui Tao and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Estimating the pose (position and attitude) in real-time is a key function for road autonomous vehicles. This thesis aims at studying vehicle localization performance using low cost automotive sensors. Three kinds of sensors are considered : dead reckoning (DR) sensors that already exist in modern vehicles, mono-frequency GNSS (Global navigation satellite system) receivers with patch antennas and a frontlooking lane detection camera. Highly accurate maps enhanced with road features are also key components for autonomous vehicle navigation. In this work, a lane marking map with decimeter-level accuracy is considered. The localization problem is studied in a local East-North-Up (ENU) working frame. Indeed, the localization outputs are used in real-time as inputs to a path planner and a motion generator to make a valet vehicle able to drive autonomously at low speed with nobody on-board the car. The use of a lane detection camera makes possible to exploit lane marking information stored in the georeferenced map. A lane marking detection module detects the vehicle's host lane and provides the lateral distance between the detected lane marking and the vehicle. The camera is also able to identify the type of the detected lane markings (e.g., solid or dashed). Since the camera gives relative measurements, the important step is to link the measures with the vehicle's state. A refined camera observation model is proposed. It expresses the camera metric measurements as a function of the vehicle's state vector and the parameters of the detected lane markings. However, the use of a camera alone has some limitations. For example, lane markings can be missing in some parts of the navigation area and the camera sometimes fails to detect the lane markings in particular at cross-roads. GNSS, which is mandatory for cold start initialization, can be used also continuously in the multi-sensor localization system as done often when GNSS compensates for the DR drift. GNSS positioning errors can't be modeled as white noises in particular with low cost mono-frequency receivers working in a standalone way, due to the unknown delays when the satellites signals cross the atmosphere and real-time satellites orbits errors. GNSS can also be affected by strong biases which are mainly due to multipath effect. This thesis studies GNSS biases shaping models that are used in the localization solver by augmenting the state vector. An abrupt bias due to multipath is seen as an outlier that has to be rejected by the filter. Depending on the information flows between the GNSS receiver and the other components of the localization system, data-fusion architectures are commonly referred to as loosely coupled (GNSS fixes and velocities) and tightly coupled (raw pseudoranges and Dopplers for the satellites in view). This thesis investigates both approaches. In particular, a road-invariant approach is proposed to handle a refined modeling of the GNSS error in the loosely coupled approach since the camera can only improve the localization performance in the lateral direction of the road. Finally, this research discusses some map-matching issues for instance when the uncertainty domain of the vehicle state becomes large if the camera is blind. It is challenging in this case to distinguish between different lanes when the camera retrieves lane marking measurements.As many outdoor experiments have been carried out with equipped vehicles, every problem addressed in this thesis is evaluated with real data. The different studied approaches that perform the data fusion of DR, GNSS, camera and lane marking map are compared and several conclusions are drawn on the fusion architecture choice.
Book Synopsis Decision-making Strategies for Automated Driving in Urban Environments by : Antonio Artuñedo
Download or read book Decision-making Strategies for Automated Driving in Urban Environments written by Antonio Artuñedo and published by Springer Nature. This book was released on 2020-04-25 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes an effective decision-making and planning architecture for enhancing the navigation capabilities of automated vehicles in the presence of non-detailed, open-source maps. The system involves dynamically obtaining road corridors from map information and utilizing a camera-based lane detection system to update and enhance the navigable space in order to address the issues of intrinsic uncertainty and low-fidelity. An efficient and human-like local planner then determines, within a probabilistic framework, a safe motion trajectory, ensuring the continuity of the path curvature and limiting longitudinal and lateral accelerations. LiDAR-based perception is then used to identify the driving scenario, and subsequently re-plan the trajectory, leading in some cases to adjustment of the high-level route to reach the given destination. The method has been validated through extensive theoretical and experimental analyses, which are reported here in detail.
Download or read book Image Understanding Workshop written by and published by . This book was released on 1990 with total page 952 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Control in Transportation Systems 2003 by : International Federation of Automatic Control
Download or read book Control in Transportation Systems 2003 written by International Federation of Automatic Control and published by . This book was released on 2004-08-02 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Symposium covers the system & control aspects of all transportation modes (road, public, rail, air, maritime) and will host a variety of contributed, invited and plenary papers from academia, traffic and transportation administrations, consultants, and industry. It will cover theoretical and methodological results, recent research, new trends, practical operation, and evaluation of transportation systems. *Provides the latest research on Transportation Systems *Contains contributions written by experts in the field *Part of the IFAC Proceedings Series which provides a comprehensive overview of the major topics in control engineering.
Book Synopsis Map Construction Algorithms by : Mahmuda Ahmed
Download or read book Map Construction Algorithms written by Mahmuda Ahmed and published by Springer. This book was released on 2015-12-17 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book provides an overview of the state-of-the-art of map construction algorithms, which use tracking data in the form of trajectories to generate vector maps. The most common trajectory type is GPS-based trajectories. It introduces three emerging algorithmic categories, outlines their general algorithmic ideas, and discusses three representative algorithms in greater detail. To quantify map construction algorithms, the authors include specific datasets and evaluation measures. The datasets, source code of map construction algorithms and evaluation measures are publicly available on http://www.mapconstruction.org. The web site serves as a repository for map construction data and algorithms and researchers can contribute by uploading their own code and benchmark data. Map Construction Algorithms is an excellent resource for professionals working in computational geometry, spatial databases, and GIS. Advanced-level students studying computer science, geography and mathematics will also find this book a useful tool.
Book Synopsis Cooperative Localization and Navigation by : Chao Gao
Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Book Synopsis Autonomous Vehicle Technology by : James M. Anderson
Download or read book Autonomous Vehicle Technology written by James M. Anderson and published by Rand Corporation. This book was released on 2014-01-10 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: The automotive industry appears close to substantial change engendered by “self-driving” technologies. This technology offers the possibility of significant benefits to social welfare—saving lives; reducing crashes, congestion, fuel consumption, and pollution; increasing mobility for the disabled; and ultimately improving land use. This report is intended as a guide for state and federal policymakers on the many issues that this technology raises.
Book Synopsis Index to IEEE Publications by : Institute of Electrical and Electronics Engineers
Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1989 with total page 944 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.
Book Synopsis Autonomous Driving by : Markus Maurer
Download or read book Autonomous Driving written by Markus Maurer and published by Springer. This book was released on 2016-05-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".
Book Synopsis The Future of Intelligent Transport Systems by : George J. Dimitrakopoulos
Download or read book The Future of Intelligent Transport Systems written by George J. Dimitrakopoulos and published by Elsevier. This book was released on 2020-02-19 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Future of Intelligent Transport Systems considers ITS from three perspectives: users, business models and regulation/policy. Topics cover in-vehicle applications, such as autonomous driving, vehicle-to-vehicle/vehicle-to-infrastructure communication, and related applications, such as personalized mobility. The book also examines ITS technology enablers, such as sensing technologies, wireless communication, computational technology, user behavior as part of the transportation chain, financial models that influence ITS, regulations, policies and standards affecting ITS, and the future of ITS applications. Users will find a holistic approach to the most recent technological advances and the future spectrum of mobility. Systematically presents the whole spectrum of next generation Intelligent Transport Systems (ITS) technologies Integrates coverage of personalized mobility and digital assistants, big data analytics and autonomous driving Includes end-of-chapter, open-ended questions that trigger thinking on the technological, managerial and regulatory aspects of ITS
Book Synopsis Global Positioning System by : Bradford W. Parkinson
Download or read book Global Positioning System written by Bradford W. Parkinson and published by AIAA. This book was released on 1996 with total page 830 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Intelligent Autonomous Vehicles 1998 (IAV'98) by : Miguel Á. Salichs
Download or read book Intelligent Autonomous Vehicles 1998 (IAV'98) written by Miguel Á. Salichs and published by Pergamon. This book was released on 1998 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings contain papers presented at the 3rd IFAC Symposium on Intelligent Autonomous Vehicles held in Madrid, Spain. The aim of the symposium was to present and discuss research and development on advanced applications in the field of land-based marine and aerospace intelligent autonomous vehicles. The papers describe not only new methods and technologies on solving classic problems related with intelligent autonomous vehicles, but also new approaches to their design, such as new architectures, topological navigation and self-learning systems.
Book Synopsis Advances in Intelligent Systems by : S.G. Tzafestas
Download or read book Advances in Intelligent Systems written by S.G. Tzafestas and published by Springer Science & Business Media. This book was released on 2001-11-30 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Systems involve a large class of systems which posses human-like capabilities such as learning, observation, perception, interpretation, reasoning under uncertainty, planning in known and unknown environments, decision making, and control action. The field of intelligent systems is actually a new interdisciplinary field which is the outcome of the interaction, cooperation and synergetic merging of classical fields such as system theory, control theory, artificial intelligence, information theory, operational research, soft computing, communications, linguistic theory, and others. Integrated intelligent decision and control systems involve three primary hierarchical levels, namely organization, coordination and execution levels. As we proceed from the be performed organization to the execution level, the precision about the jobs to increases and accordingly the intelligence required for these jobs decreases. This is in compliance with the principle of increasing precision with decreasing intelligence (IPOI) known from the management field and theoretically established by Saridis using information theory concepts. This book is concerned with intelligent systems and techniques and gives emphasis on the computational and processing issues. Control issues are not included here. The contributions of the book are presented in four parts as follows.
Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal
Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2007-03-05 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.
Book Synopsis PRIMA 2014: Principles and Practice of Multi-Agent Systems by : Hoa Khanh Dam
Download or read book PRIMA 2014: Principles and Practice of Multi-Agent Systems written by Hoa Khanh Dam and published by Springer. This book was released on 2014-10-25 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 17th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2014, held in Gold Coast, QLD, Australia, in December 2014. The conference was co-located with the 13th Pacific RIM International Conference on Artificial Intelligence, PRICAI 2014. The 21 revised full papers presented together with 15 short papers were carefully reviewed and selected from 77 submissions. The papers are organized in topical sections on self organization and social networks/crowdsourcing; logic and argumentation; simulation and assurance; interaction and applications; norms, games and social choice; and metrics, optimisation, negotiation and learning.
Book Synopsis Positioning Systems in Intelligent Transportation Systems by : Christopher R. Drane
Download or read book Positioning Systems in Intelligent Transportation Systems written by Christopher R. Drane and published by Artech House Publishers. This book was released on 1998 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Positioning systems, which determine the location of cars, trucks, buses, trains, and airplanes, are critical in the use of intelligent transport systems (ITS) to improve the efficiency and safety of transport systems while making them less congested and less polluting. This book is the first integrated study of the role of positioning systems in ITS, the major types of positioning systems, the relationship between them, and methods for evaluating their performance.
