Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
The practical driving safety assistant system should be able to estimate the possibility of pedestrian-vehicle collision, which includes pedestrian detection and localization as well as collision prediction. Until now, many works concentrated on pedestrian detection and achieved some progress. For collision prediction, it is essential to locate the pedestrian precisely; however, the localization problem...
In this study, we describe a model based fault tolerant control method for steer-by-wire system. First of all general redundancy schemes and current works for steer-by-wire fault tolerant control systems are examined. Then the paper focuses on the fault tolerant control methods of key sensors and DC motors for steer-by-wire system. With the aim to provide a steady and reliable fault tolerant control...
Dynamic model based vehicle state variables observer is a step towards economical on-board sensing system. However a complex model always leads to a control system with a poor real-time performance, while a simple model cannot exhibit real characteristics of a vehicle. In order to make an accurate and sententious estimate for yaw rate and side slip angle, an ameliorated 2-DOF bicycle model containing...
This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. Ground speed Doppler radar and one MEMS gyroscope are used to augment differential GPS (DGPS) and provide accurate navigation during DGPS outages. Using Doppler radar has advantages of easy assembling and lowcost maintenance compared to wheel encoders. The Doppler radar and...
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...
Exploration always occurs in the presence of uncertainty. In this paper, we consider path planning for autonomous vehicles equipped with range-based sensors and traveling in an uncertain area. The mission of the vehicles is to explore a set of objects of interest while reducing uncertainty in object position, visibility and state. A connection is shown between the Kalman filter (used to reduce uncertainty)...
According to the problem that some key state parameters in vehicle stability control process are too difficult to directly measure, combining the strong tracking filtering theory with data fusion estimation technology, and by a 4-DOF nonlinear vehicle dynamics model, the algorithm of multi-sensor linear combination state optimization estimation based on strong tracking filter is proposed. For the...
The vehicle lane keeping assist through active front wheel steering is developed in this research using robust model reference adaptive control. Two independent on-line driver drowsy assessment systems are employed to determine the driver drowsy indices. The two sets of drowsy assessments will be integrated through a Kalman filter to help determine the control authority of the controller. Computer...
In recent years, the Viola and Jones rapid object detection approach became very popular. One aspect why this approach achieved acceptance is the numerical efficient computation of the Haar-like features on basis of the integral image. This efficiency is essential for sliding window techniques, where features have to be extracted for huge amounts of data. The main contribution of this paper is an...
An inverse modeling algorithm is developed to reconstruct the state of traffic (velocity field) on highways from GPS measurements gathered from mobile phones traveling on-board vehicles. The algorithm is based on ensemble Kalman filtering (EnKF), to overcome the nonlinearity and non-differentiability of a distributed highway traffic model for velocity. The algorithm is implemented in an architecture...
Abstract-This paper introduces a kinematic model of a deep-sea mining vehicle in presence of sliding parameters. The model describes both the noises features of sliding parameters and the deep-sea condition features. To handle sliding parameters noises, a recursive algorithm to minimize difference between the filter-computed and the actual innovation covariance is adopted, which is a novel integrated...
In this work a vision-based lane detection system is presented. The main contribution is the application of 2D line filters for lane detection which suppress noise in the near distance without destroying lines in the fare distance. Line pairs are decided to belong to lane markings by means of parallelism is world coordinates and reasonable constraints concerning the road width. The polygon constructed...
It is difficult to establish a precise mathematical model in extended Kalman filter (EKF) data fusion algorithm for GPS/DR integrated vehicle navigation system, a novel data fusion algorithm is put forward, which based on wavelet packet analysis. Firstly, the algorithm chooses best wavelet packet group for GPS, odometer and gyroscope signals with least cost principle, and does dynamic pre-filtering...
Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we...
This paper describes the use of Kalman filtering in distance keeping for underwater vehicles. The vision-based distance keeping module has been mounted on a micro-ROV equipped with a camera. Distance from a plane-like obstacle is determined on the basis of the laser dot projections within the frame. Since these measurements are not reliable a Kalman filter is designed - unknown dynamic model parameters...
Based on many model tracking methods, this paper presents a new moving vehicle model. In this new model, unscented Kalman filter is used to track the moving vehicle. The model is simple but more accurate to describe the characters of moving vehicle. The simulation and experiment results of the model indicate that the algorithm efficiently solves the problem of nonlinear moving object tracking.
Technological advances in both GPS and low cost micro-electro mechanical system (MEMS)-based inertial sensors enabled monitoring the location of moving platforms for numerous positioning and navigation (POS/NAV) applications. When miniaturized inside any moving platforms, MEMS-based inertial navigation system (INS) can be integrated with GPS and enhance the performance in denied GPS environments (like...
The need to conduct warfare in urban environments presents a new frontier for navigation and control of UAV's in locations where GPS may be degraded or denied. This paper addresses the first step in the development of a robust, non-GPS guidance, navigation, and targeting system for small indoor air vehicles: to design and validate a flight control system for micro aerial vehicles using an externally-mounted...
Mass property of space vehicle changes apparently during and after mating and cannot be predicted or measured at times, yet it needs to be accurately known for mated flight control or attitude control and momentum management. A discrete Kalman Filter (KF) based estimation method is developed, measurements of single point acceleration, angular velocity and angular acceleration are employed to extract...
To develop an effective vehicle control system, it is needed to estimate vehicle motions accurately, and the estimation of reliable road frictions is one of the most important steps to achieve this goal. In the absence of commercially available transducers to measure the friction coefficient directly, various types of estimation methods have been investigated in the past. Most models in the literature...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.