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Vehicle positioning and environment awareness are key components in new intelligent transportation systems (ITS) which explains the growing demand in distance sensors. Though several efficient technologies already exist, the growing automation of vehicle requires sensors redundancy. In this paper, we introduce a new, simple and low cost distance measurement scheme using the headlamps and taillights...
Vehicles in the near future will be equipped with dedicated short-range communications (DSRC) transceiver which holds great promise of significantly reducing vehicle collisions by enabling vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications. In addition, modern vehicles will be equipped with different on-board sensors such as GPS receivers and ranging sensors (e.g., cameras,...
In this paper, the positioning system that uses a direct sequence spread spectrum (DS/SS) inter-vehicle communication (IVC) scheme based on location oriented pseudo noise (PN) code allocation is studied. Although this DS/SS-IVC scheme can avoid the impact of hidden terminals, it has a problem. Since each vehicle obtains PN code based on the position that is estimated by GPS, communication performance...
In this paper, the positioning system using a direct sequence spread spectrum (DS/SS) inter-vehicle communication (IVC) scheme based on location oriented pseudo noise (PN) code allocation is considered. DS/SS-IVC scheme based on location oriented PN code allocation has a superiority in terms of that the interference of hidden terminal can mitigate. In this scheme, each vehicle determine the PN code...
The goal to achieve accurate and ubiquitous localization is the driving force for location based services in vehicular ad hoc networks (VANETs). In urban areas, global positioning system (GPS) and in-vehicle navigation sensors (e.g. odometers) suffer from prolonged outages and unsustainable error accumulation, respectively. The need for precise vehicle localization remains paramount, and cooperative...
Popular location-based services through smart-phones and other portable devices have brought the tracking of user mobility to the attention in wireless community and have increased its importance continuously. Although the incremental development of GPS technology made the measurement of speed and location of the device more accurate, speed itself cannot fully express the mobility and therefore limits...
In this paper we investigate the creation of an heterogeneous underwater network with static and mobile assets cooperating together in coordinated missions using acoustic links. Each underwater device combines communication, networking, and sensing capabilities, and cooperates with the other devices to accomplish a given task. The flexibility and capability of the proposed system allows to overcome...
We present a method that allows precise vehicle positioning inside buildings like parking garages. It works independently of GNSS and instead uses dead reckoning (DR) and a digital map of the parking garage. No additional hardware or infrastructure is needed, since the used inertial sensors and odometry are available in current premium series vehicles. Only additional map data for parking garages...
In this paper, a generic approach for three-dimensional environment representation is presented. Scans from range finders are accumulated into a three-dimensional occupancy grid. A probabilistic measurement model is used to represent measurement uncertainties. Free regions are modelled as well and contribute to a precise representation of the environment. In order to acquire a feasible three-dimensional...
This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the...
The criteria of the microwave sensor of speed and traveled distance antenna choice are considered from the viewpoint of minimization of Doppler signal spectrum expansion.
In order to increase the safety of vehicle reversing, a vehicle reversing collision avoidance device was developed based on single chip computer. The basic principle and the framework of the device were introduced. For the device hardware, the principle of ultrasonic distance measurement was given, the AT89C51 single chip computer was chosen, and the hardware circuits were designed. According to the...
We present novel exploration algorithms and a control law that enable the construction of Voronoi diagrams over unknown areas using a single autonomous vehicle equipped with range sensors. Our control law and exploration algorithms are provably complete. The control law uses range measurements to enable tracking Voronoi edges between two obstacles. Exploration algorithms make decisions at vertices...
Localization is a part of many automotive applications where safety is of crucial importance. We think that the best way to guarantee the safety in these applications is to guarantee the results of their embedded localization algorithms. Unfortunately localization of vehicles is mostly solved by Bayesian methods which (due to their structure) can only guarantee their results in a probabilistic way...
The Intelligent Transportation Institute at the University of Minnesota is developing a Cooperative Intersection Collision Avoidance System - Stop Sign Assist (CICAS-SSA) for rural intersections as an alternative to signalized intersections. When deployed, the system will provide a driver stopped at a thru-stop intersection information about the available gaps in the mainline road traffic stream....
Real-time positioning is an important part of the modern train control system. An efficient method to improve the positioning accuracy and reliability is the multi-sensor integrated positioning system, and GNSS is introduced to the existing train positioning based on odometer (ODO) in this paper, where the accuracy and error source of train positioning based on ODO are analyzed, and an effective slide...
Single vehicle road departure (SVRD) is a main cause of enormous loss of life and property on highways. In total, SVRD accidents amount to around 20 percent of traffic accidents and 40 percent of fatalities in total. Recent developments of advanced driver assistant system (ADAS) such as lane departure warning (LDW) system which perceives road boundaries through optical sensors that trigger a warning...
We consider the recognition of dangerous situations in vehicle traffic. Unscented Kalman filters are used to predict vehicle trajectories within a short prediction horizon [t0, t0+ Deltat]. Based on this prediction, for each vehicle pair the mutual distance is computed for [t0, t0+ Deltat], whereby the distance accounts for the geometric distance, for the prediction uncertainties as well as for the...
For the currently popular WiFi networks, the problem of communication blind spots is more acute, since the access points (APs) are not placed according to a central plan. In this paper, we design an Cyber physical system (CPS) based on an automatic mobile vehicle (AMV) to guarantee the quality of service (QoS) of real-time applications in WiFi networks. When a user enters the blind spot regions, the...
In this paper, we propose a maritime underwater navigation system (MUNS) for unmanned underwater vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a wide area planner (WAP) and a local area planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities...
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