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.
The availability of high-resolution image radars allows estimating the orientation of vehicles from a single measurement without temporal filtering. This gives the opportunity to react even faster to certain critical traffic scenes. This paper presents an approach for estimating the orientation of a vehicle. The orientated bounding box algorithm known from literature is adapted to this end and a quality...
Extensive research has shown that most of road accidents occur as a result of driver errors. A close examination of accident data reveals that losing the vehicle control is responsible for a huge proportion of car accidents. Preventing such kind of accidents using vehicle control systems, requires certain input data concerning vehicle dynamic parameters and vehicle road interaction. Unfortunately,...
An accurate estimation of the vehicle velocity is one of the greatest challenges in modern vehicle systems. The velocity is needed for the Antilock Braking System (ABS) and Traction Control System (TCS) as well as for the Electronic Stability Program (ESP) and cannot be measured directly. Using at least two fist sensors, which measure the vertical frequency component of a front wheel and the related...
We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using...
In this paper, we proposed a crowd-sensing idea to construct the driving environment so that the driver could have better understanding of his/her surroundings on the roadway. We assume that intelligent vehicles will embed a sensing system, which is composed of three basic modules including inter-vehicle communication, vehicle license plate verification, and distance estimation. Through the help of...
This paper discusses a new path tracking controller strategy for autonomous vehicle. Preliminary works done by researchers shows that most of the controller performs well in a straight path and normal curve. However, the problem arises in tight curve or discontinuous path. Therefore, this work aims to reduce the gap on the tight corner problem. The controller is designed based on the dynamic curvature...
The development of SOTM systems for land applications increases the need of use greater frequency (Ka band) : this introduces new problems related to land systems SOTM that do not appear in aeronautics applications. Among these, satellite tracking/pointing is a very critical aspect, above all in Ka band for which the maximum pointing error admitted is one tenth of degree: this does not allow the use...
In this paper, we propose an easy and convenient method for traffic monitoring based on acoustic sensing with vehicle sound recorded by an ad-hoc microphone array. Since signals recorded by an ad-hoc microphone array are asynchronous, we perform channel synchronization by compensating for the difference between the start and the end of the recording and the sampling frequency mismatch. To monitor...
Reducing traffic congestion and improving the efficiency of urban vehicular mobility are widely recognized as central objectives for smart cities. In particular, given the economic/time costs of developing an infrastructure for traffic monitoring and surveillance, there is growing interest in the exploitation of V2V communication technologies to foster new forms of peer-to-peer cooperation and to...
The proposed work is in the framework of the V-Fides project, aiming at developing a new generation of agile, over-actuated, long endurance Autonomous Underwater Vehicles, for deep underwater exploration, operation and monitoring. The project is co-funded by Tuscany Region (Italy) and is developed by a team lead by WASS S.p.A. (Whitehead Sistemi Subacquei, Livorno) with the participation of several...
A robust method to estimate tire forces for a passenger vehicle with the Unscented Kalman Filter (UKF) is provided. Only standard vehicle sensors were used and no a priori knowledge of tire and road properties was required. The estimator uses the bicycle model and a random walk tire force model. The tire force estimates were compared to a CarSim reference model for combined slip maneuvers. The results...
This paper presents the experimental results of our path planning for a passenger vehicle in parallel parking problems. The generation of the path planning consists in two parts: create a simple geometric path for the parallel parking in one or more maneuvers by circle arcs and then transform it into a continuous-curvature path with the use of clothoids. Experimental results of the parking and of...
Based on high-resolution radars a new approach for determining the full 2D-motion state (yaw rate, longitudinal and lateral speed) of an extended rigid object in a single measurement is proposed. The system does not rely on any model assumptions and is independent of the exact position, expansion and orientation of the object. In comparison to related methods it is not based on temporal filtering,...
Accurate localization of a vehicle is a challenging task as GPS available on the market are not designed for lane-level accuracy application. Although dead reckoning helps, cumulative errors from inertial sensors result in a integration drift. This paper presents a new method of localization based on sensors data fusion. An accurate digital map of the lane marking is used as a powerful additional...
Future advanced driver assistant systems put high demands on the environmental perception especially in urban environments. Today's on-board sensors and on-board algorithms still do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support the on-board sensor system and algorithms. The usage...
In summer 2013, a Mercedes S-Class drove completely autonomously for about 100 km from Mannheim to Pforzheim, Germany, using only close-to-production sensors. In this project, called Mercedes Benz Intelligent Drive, stereo vision was one of the main sensing components. For the representation of free space and obstacles we relied on the so called Stixel World, a generic 3D intermediate representation...
Autonomous landing of quad rotor UAV on a maritime vessel is a challenging task, as low cost sensors, unknown movements of the landing surface, and external disturbances make it difficult to generate a relative pose estimate with sufficient accuracy for landing. In this work, we propose an architecture that avoids sensor limitations while allowing for accurate relative pose estimation, even in the...
This paper presents a 100 Hz monocular position based visual servoing system to control a quadrotor flying in close proximity to vertical structures approximating a narrow, locally linear shape. Assuming the object boundaries are represented by parallel vertical lines in the image, detection and tracking is achieved using Plücker line representation and a line tracker. The visual information is fused...
Attitude estimation for an aerial vehicle using the Kalman Filter - KF- with experimental validation is presented in this paper. The data fusion is made using simplified representations of the kinematics of the aerial vehicle and the accelerometer measurement model. The resulting algorithm is computationally efficient as it can be run at up to 500 Hz on a low-cost microcontroller. The observer is...
This paper presents a robust method to map the position of a set of radio range sensors while at the same time an aerial vehicle is being localized with respect that map employing only range measurements even in the presence of noisy measurements. The method makes use of a pre-filtering algorithm to detect and remove measurements outliers and extends the original approach presented in [1] to model...
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.