The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In recent years, stricter regulation of vehicle emissions, increasing fuel prices and government grants have lead to a rapidly growing interest in electrical mobility. However, potential customers are discouraged by the limited range of electric vehicles involving reduced flexibility. This paper presents a modern, real-time capable approach using road data obtained from an advanced navigation system...
This paper proposes a geometric model based lateral control system for a ground vehicle. Lateral control algorithm takes the advantages of two different path tracking methods at different path geometries. Two of the well-known geometric path tracking methods, namely Pure-Pursuit method and Stanley method, are combined with a simple and easy to implement approach. Pure-Pursuit method is very good at...
The effectiveness of Cooperative Intelligent Transport Systems (C-ITS), both on energy and emissions savings as well as operational improvements, is an on-going research area. This research evaluates the effect of a pilot study on speed advice service, which was implemented along a major urban arterial corridor in the city of Thessaloniki, Greece. Real-time data pertaining to the operation of the...
We study an algorithm that allows a vehicle to autonomously change lanes in a safe but personalized fashion without the driver's explicit initiation (e.g. activating the turn signals). Lane change initiation in autonomous driving is typically based on subjective rules, functions of the positions and relative velocities of surrounding vehicles. This approach is often arbitrary, and not easily adapted...
It is conducive to understand the movement of the dummy, the analysis of dummy injury curves and restraint system matching by studying on the trajectory of dummies. By viewing the crash video is difficult to quantitative analysis of dummy motion, so how to get the dummy trajectory through the test data is the urgent thing to solve the problem for engineers. This paper studied the relationship between...
Motivated by driver-assist systems that warn the driver before taking control action, we study the safety problem for a class of bounded hybrid automata. We show that for this class there exists a least restrictive safe feedback controller that has a simple structure and can be computed efficiently online. The theoretical results are then used to design driver-assist systems for rear-end and merging...
Plug-in hybrid electric vehicles (PHEVs) are a promising step toward reaching a fully green passenger vehicle with large pre-chargeable batteries which offer a very good fuel economy. Many researchers are now focussing on making vehicles safer and more efficient by improving vehicles' interaction with their environment and assisting drivers to make better decisions with less errors. Adaptive Cruise...
This article presents a path planning concept for automated driving. It builds upon existing approaches using quintic polynomials for path planning in structured environments. The contribution of this work are analytical solutions to evaluate selected properties of quintic polynomial based paths such as maximum acceleration and jerk or overshooting behavior. In addition, a concept for generating asymmetrical...
This paper aims to develop a control algorithm for a unicycle type AGV (Automated Guided Vehicle) to follow a trajectory predefined by a line avoiding oscillation on its movements. At the first tests the PID controller will be applied. On some applications cameras are used to help a robot follow a track (instead of infra red sensors), determining if it should keep a forward movement or turn to any...
Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we present a motion planner, which computes contingency maneuvers for an automated vehicle in a 0.1[s]...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
For manned drive for the rubber tram to track virtual tracks can easily lead to driver fatigue problems, on the basis of the visual navigation, an automatic steering control method based on the model predictive control is proposed. In the paper, Firstly, the automatic steering control principle based on visual navigation vehicle is introduced; then, the automatic steering predictive controller is...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
Managing trajectory separation of unmanned aircraft is critical to ensuring accessibility, efficiency, and safety in low altitude airspace. The concept of a geo-fence has emerged as a way to manage trajectory separation. A geo-fence consists of distance buffers that enclose individual trajectories to identify a ‘keep-in’ region and/or enclose areas that identify ‘keep-out’ regions. The ‘keep-in’ geo-fence...
Controlled Lagrangian particle tracking (CLPT) is a feedback control methodology for autonomous underwater vehicles (AUVs) in dynamic ocean environments that can reveal information about ocean flow and model error through the operation of AUVs. From CLPT, we evaluate the navigational performance of AUVs with controlled Lagrangian prediction error (CLPE), which represents the difference between the...
This paper presents an Adaptive Nonlinear Model Predictive Controller for longitudinal motion of automated vehicles which incorporates advance information on future speed demand values, as well as on road grade changes. It is used in combination with a state and parameter estimator to adapt to a changing vehicle mass. This allows improved speed tracking capability for horizontal driving and steep...
This paper aims to develop a modeling framework for optimizing the timing of a set of traffic signals by considering individual vehicle characteristics (such as fuel consumption and travel time). Through the Vehicle to Infrastructure (V2I) communications, such individual vehicle information is available for the infrastructure center to produce optimal signal timing. The proposed strategy applies the...
With the rapid development of GPS devices, satellite and wireless communications technologies, many trajectory data is generated. Consequently, processing and analyzing trajectory data have become a hot topic. In this paper, an improved noise filtering, trajectory compression and trajectory segmentation method based on Kalman filter and Douglas-Peucker algorithm and corner is proposed. Firstly, the...
In this paper, the complicated motion equations are established based on the dynamic characteristics of the return flying vehicle. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as the height, velocity, range, heat rate, aerodynamic load and dynamic pressure capability. How these models are appropriately employed...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.