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This paper presents a new method for estimation and identification of shear wind and discrete gusts of a previously unknown wind field by using an Unmanned Aircraft System (UAS). Wind estimation and identification is key in energy-efficient trajectory planning and dynamic soaring applications. The research proposes an approach for mapping a complete wind field from the collected data. Therefore, the...
Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board IMU with wind tunnel measurements. The IMU based estimation...
This paper demonstrates a framework to optimize the investment of dynamic wireless charging (DWC) infrastructure for charging-in-motion services. The services require DWC infrastructure deployed on public roads to extend battery lifespan and reduce battery sizes while increasing driving range simultaneously. Since it would be financially infeasible to have such investments serving only few vehicles,...
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...
Continuously increasing requirements for the vehicles' on- board system in terms of autonomous driving functions lead to new power network topologies. One promising concept is the usage of a 12 V dual battery system consisting of a lead-acid- and a lithium-ion-battery instead of a single lead-acid battery. The maximum system peak power depends on the current distribution between the two batteries,...
The electric/hybrid vehicle are promising technologies and practical for the transport and the environment. For energy management, the vehicle longitudinal dynamics used to estimate vehicle power demands depend on several parameters, including its mass and its rolling conditions. This study compared the methods of estimating the rolling resistance coefficient and mass to establish energy planning...
In vehicular ad-hoc network (VANET), safety applications require the dissemination of safety information and vehicular states to all nearby vehicles through broadcasting. However, due to the tremendous information, broadcast channel will be confronted with great pressure. Therefore, vehicles should adjust their contention window to avoid intense competition on channel. In this paper, we propose a...
This article presents the implementation of an indoor localization approach that combines map matching and a circular particle filter defined in a Bayesian framework. The technique relies only on velocity and heading observations coupled with a map of the road network. No prior knowledge of the initial position is given. A circular distribution is used to match the vehicle's heading with the roads...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
In this paper, road roughness model for the right and the left tracks are constructed by utilizing two methods. In the first method, from time-domain measurements the empirical auto and cross-power spectral densities of the left and the right tracks are estimated by using the Welch method. Next, the road roughness is decomposed into three stochastically independent random processes and the linear-shape...
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...
In this paper a vehicle self-localization approach in an urban traffic intersection scenario is proposed. A sensor data fusion of azimuth angle of arrival (AOA) and estimated distance measurements with speed and heading information using an Extended Kalman Filter (EKF) is carried out to track the vehicle location. Furthermore, a concept for cooperative localization (CL) is introduced based on device-to-device...
Local vehicle density estimation is an integral part of various applications of Vehicular Ad-hoc Networks (VANETs) such as congestion control and congestion traffic estimation. Currently, many applications use beacons to estimate this density. However, many studies show that the reception rate of these beacons can significantly drop at short distances due to a broadcast storm problem in high-density...
An Unscented Kalman Filter (UKF) to simultaneously estimate the navigation state of an Autonomous Underwater Vehicle (AUV) and the sea current, a priori unknown, is proposed. The filter is the result of a modification of an UKF developed in the past by the authors for the sole purpose of navigation state estimation. The new algorithm has been obtained by integrating the vehicle model with a contribution...
The capability of automated vehicles with intelligent on-board systems aimed at improving traffic safety has been in constant advance. This paper proposes an integrated module of lane and vehicle detection for a forward collision warning system that can be embedded in an autonomous driving system operating in real time. Integration of lane and vehicle detection provides more precise information for...
In Vehicular Ad-hoc Networks (VANETs) communication among vehicles enables new advanced driver assistance systems. Cooperative Awareness Messages (CAMs) are so frequently exchanged that deployable electronic control units will not be powerful enough to process them all. Thus, most relevant CAMs need to be selected for processing. In this paper, we give an overview of relevance estimation function...
Inter-vehicular communication is a major research field in the intelligent transportation systems (ITS) industry. It has been increasingly growing due to recent advances in mobile and wireless communication technologies. This paper aims to present a novel cross layer channel estimation technique for inter-vehicular communication based on Bayesian network theory. It proposes a multi-criteria estimation...
During drive off maneuvers from stand still with high torque unpleasant longitudinal oscillations of the vehicle occur, commonly referred to as the power hop phenomenon. This effect especially arises in vehicles with manual transmission in a maneuver with abrupt release of the clutch, also known as snap start. Traction control on the engine control unit provides a cheap and easy way to reduce power...
Multi-level road junctions are becoming increasingly popular in several major cities. In order to cope with such scenarios, car navigation systems require positioning units to supply accurate slope information. This knowledge allows correct matching to one of the options available from 3D maps. For cost reasons, slope needs to be obtained using consumergrade MEMS IMUs. One method to assess the vehicle...
In classical Vehicle Routing Problem, algorithms are developed based on travel distance or travel time estimated from an assumed constant travel speed. However, in city logistics, due to a growing amount of traffic and a limited capacity of the road network, travel speed between two locations no longer remains a constant but location and time dependent. In this paper, we propose a framework to visualize...
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