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Traversable region estimation is the fundamental enabler in autonomous navigation. In this paper, we propose a traversable region segmentation algorithm using stereo vision. We address this problem mainly in road scenes for the goal of autonomous driving. Using only geometry information, our approach has the advantages of effectiveness and robustness. The proposed approach is based on a cascaded framework...
To reduce the energy consumption of active suspension, an coordinated control strategy of the energy management for the active suspension with linear motor is proposed. The quarter model of vehicle active suspension is established to analyze active mode and regenerative mode for the active suspension with linear motor. And the relationship between the optimal active force and suspension speed is analyzed...
Autonomous vehicle navigation is challenging since various types of road scenarios in real urban environments have to be considered, particularly when only perception sensors are used, without position information. This paper presents a novel real-time optimal-drivable-region and lane detection system for autonomous driving based on the fusion of light detection and ranging (LIDAR) and vision data...
The maximum tire road friction coefficient greatly affect the dynamic vehicle response under defined driving conditions, which makes it a crucial parameter to vehicle dynamics control and active safety systems. A maximum road friction estimation scheme was proposed in this paper, in which the instantaneous tire friction was obtained by analyzing the vehicle dynamics response, and a new transient frictionwheel...
In consideration the drawbacks of some existing road adhesion coefficient estimation methods, a maximum road friction estimation method was proposed in this paper based on the model reconstruction principles, which fully took the advantages that the wheel dynamic parameters of distributed drive electric vehicle can be obtained accurately. The simplified tire model originated from magic formula for...
Estimation of the tire-road friction using the signal of on-board sensors is very important for the vehicle dynamic control systems. This paper presented a tire -- Croad friction coefficient estimation algorithm based on a modified Dugoff model. The proposed algorithm first determined the tire slip ratio and the instantaneous longitudinal friction coefficient using vehicle and wheel dynamics parameters...
In this paper, an improved intersection detection method is proposed by applying the VCS-based algorithm on the registered scans instead of the single scan. Both the registration and intersection detection approach are independent on Global Positioning System (GPS), Geographic Information System (GIS), Inertial Navigation System (INS) or other auxiliaries which have been extensively used in autonomous...
Finding road intersections in advance is crucial for navigation and path planning of moving autonomous vehicles, especially when there is no position or geographic auxiliary information available. In this paper, we investigate the use of a 3D point cloud based solution for intersection and road segment classification in front of an autonomous vehicle. It is based on the analysis of the features from...
Considering the plentiful road markings in China, we present a Block-Constraint Line scanning (BCLS) method for lane detection in this paper. In this method, images are firstly pre-processed by a morphological top-hat transform, and then an imaging model is created for building relationship between lane parameters of the image coordinate and the WGS coordinate, from which target points on lane lines...
The integrated control model of active suspension and electrical power steering system was established. General uncertainties which can cause vehicle unstable were considered. An integrated controller for both active suspension and electric power steering system of vehicle was constructed based on μ control theory. The μ control law minimized an objective function (H2 norm) for a given controller...
This paper presents an adaptive nonlinear control the vehicle performance of Electrical Power Steering system combined Active Suspension in road disturbances by tracking the sideslip angle and yaw-rate. The proposed method solves the coupled integrating system control which employs two different road surfaces in the steering procedure and an online parameter identification to acquire favorable vehicle...
This paper presents a novel approach to detect traffic congestion on roads in a natural open world scene observed from TV cameras placed on poles or buildings. In this system, a time-spatial imagery based algorithm is proposed to estimate the road status from the video. The experimental results on real road traffic congestion estimation show that the time-spatial method is robust in complex lighting...
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