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Grid maps are a reliable representation of the environment. Based on a generic grid map definition, this paper presents three formulations: a laser scanner based occupancy grid, a video grid based on the Inverse Perspective Mapping and a novel feature grid, where lane marking features are used. Furthermore, this contribution presents a road course estimation based on such grid maps which yields estimations...
This research aims at generating an omnidirectional perception at the host vehicle's surroundings, extracting accurate and continuous motion trajectories of the nearby vehicles using low cost laser scanners. A system of detecting and tracking on-road vehicles using multiple laser scanners is developed, where focuses are cast on solving data association of simultaneous measurements from multiple sensors...
We present a multiscale adaptive search algorithm for efficiently searching an unknown number of stationary targets using a team of multiple mobile sensors. We first derive a Spectral Multiscale Coverage (SMC) control law for a Dubins vehicle model. Given a search prior, the SMC control leads to uniform coverage dynamics for the mobile sensors such that the amount of time spent observing a region...
Body slip angle is one of the most important information for vehicle motion control; as specific sensors for body slip angle measurement are expensive, it is necessary to investigate estimation methods using existing popular sensors such as gyro sensor, encoder, camera, etc. For EV (electric vehicle), in particular, the motor response is several milliseconds which enables high performance control...
External airbag installed in vehicle can protect pedestrians and reduce injuries in the event of a crash. In this paper, a collision prediction system for external airbag using an interacting multiple model is proposed to detect a collision and inflates quickly enough to cushion the impact. The system includes two different models, constant velocity and constant acceleration, in order to estimate...
The purpose of this paper is to propose a method to estimate the location of the vehicle within a road around a horizontal axis from the bird's eye perspective. This method uses a road heuristic — the edge length of the road, in order to localize a vehicle within the road. The method aims to determine erratic vehicle steering on roads using a single camera in places where lanes and road discipline...
New driver support systems require knowledge of the vehicle position with great accuracy and reliability. Satellite navigation (GNSS) is generally insufficiently accurate for positioning and as an alternative to using a ground station, combinations with high quality motion sensors are used in so-called Inertial Navigation Systems. However the system specifications and related cost are not suitable...
This paper presents a vehicular positioning system in which multiple vehicles cooperatively calibrate their positions and recognize surrounding vehicles with their GPS receivers and ranging sensors. The proposed system operates in a distributed manner and works even if all vehicles nearby do not or cannot participate in the system. Each vehicle acquires various pieces of positioning information with...
Geolocation of a ground object or target of interest from live video is a common task required of small and micro unmanned aerial vehicles (SUAVs and MAVs) in surveillance and rescue applications. However, such vehicles commonly carry low-cost and light-weight sensors providing poor bandwidth and accuracy whose contribution to observations is nonlinear, resulting in poor geolocation performance by...
In this paper, we present a novel position estimation system for moving receivers in urban area. Currently, position estimation systems using at least four GPS satellites are most popular. However, because of the influence of signals shielded by buildings and multipath, measurement error becomes larger. For accurate estimation, we discuss algorithms for position estimation which doesn't depend on...
This paper reports the development of vehicle fuel flow estimation algorithms based entirely on signals available through the standard OBD-II interface. The paper also illustrates the use of the resulting fuel flow estimates for adaptation and optimization. The fuel flow estimation algorithm functionality differs depending on the powertrain type (gasoline versus diesel, naturally aspirated versus...
Underwater sensor networks represent a rapidly growing technology to monitor the ocean environment. This paper describes a solution to the problem of retrieving underwater dispersed sensors on behalf of an unmanned vehicle: assuming that the vehicle can only measure euclidean distances from itself to the dispersed sensors, an algorithm is designed allowing the vehicle to automatically find the sensors...
In a motorized vehicle a number of easily measurable signals with frequency components related to the rotational speed of the engine can be found, e.g., vibrations, electrical system voltage level, and ambient sound. These signals could potentially be used to estimate the speed and related states of the vehicle. Unfortunately, such estimates would typically require the relations (scale factors) between...
This paper presents the implementation of an open-source 6-DoF pose estimation system for micro-air vehicles and considers the future implications and benefits of open-source robotics. The system is designed to provide high frequency pose estimates in unknown, GPS-denied indoor environments. It requires a minimal set of sensors including a planar laser range-finder and an IMU sensor. The code is optimized...
Accurate and reliable vehicle localization is a key component to numerous applications, including active vehicle safety systems, real time estimation of traffic conditions, and high occupancy tolling. Up to now, most of the localization techniques rely on a given set of sensors embedded in a single vehicle. In this paper, we survey the issues considered in designing collaborative methods for localizing...
Pervasive vehicle-mounted mobile devices are increasingly common, and can be viewed as a large-scale ad hoc network on which collaborative, location-based services can be directly supported. In order to support such services within a geographic region, a certain number of computational, storage and sensing mobile devices need to be carriers of the services. This paper introduces and evaluates Region-Resident...
In this paper an extended Kalman filter for real-time estimation of micro flight vehicle body attitude by using MEMS gyros, accelerometers, and magnetometers is presented. The algorithm uses quaternions to represent rotation, which can avoid the singularity problem caused by using Euler angles. Attitude quaternion errors and drift bias of gyros were selected to construct a state vector. The state...
Road safety applications require the most reliable data. In recent years data fusion is becoming one of the main technologies for Advance Driver Assistant Systems (ADAS) to overcome the limitations of isolated use of the available sensors and to fulfil demanding safety requirements. In this paper a real application of data fusion for road safety for pedestrian detection is presented. Two sets of automobile-emplaced...
The chief purpose of this research is to identify the variable vehicle parameters considering the important role of these data in vehicle active safety systems. Generally, implementing sensors to measure these parameters could raise the cost of the product. Parameters of the reference sedan car we focus on are total mass of the car, yaw moment of inertia and distance between the vehicle centre of...
Knowledge about the course of a road is an important prerequisite for numerous advanced driver assistance systems. Current approaches for lane recognition and estimation are usually utilizing camera sensors in order to detect and process lane markings on the road surface. In this paper, it is investigated if it is feasible to estimate the course of a road using an automotive radar sensor, only. For...
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