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This paper discusses the development of a public transit scheduling tool that can be run on a spreadsheet software. The main objective of the paper is to bridge the existing gap between the theoretical knowledge of bus service scheduling and local transport service providers in order for the latter to improve their service. Users of the tool are allowed to input onboard passenger counts, to analyze...
Vehicles accidents are events that occur in the process of road traffic and lead to material and/or immaterial damages and in many cases to death of the road users. In this paper we propose and develop a Web based tool for analysis, visualization and animation of vehicle crash accidents. The method based on conservation of linear and angular momentum for the system of rigid bodies, combined with additional...
Gyroscope is well known as a sensor but also used as an actuator. In the beginning of 20th century, research that related with gyro-monorail by using a gyro-actuator was conducted. Later, the research on a gyro-bike system was reported in 1970's. Then, the self-sustaining body bike has been reported up until now. In this paper, we propose an unmanned self-sustaining driving control bike in a straight...
As a part of a driver assistance system, vehicle topview system plays an important role in driving safety. The objective of this research is to develop a vision-based top-view system to expand drivers' field of view. Four cameras provide a 360-degree view of the surrounding terrain of the vehicle, and the destination image is composed by these four processed images. In this paper, we divide the procedure...
In this paper, we propose a robust curved lane marking detection method by first detecting a straight lane and applying a geometric model of that detected straight lane. In our proposed method, we first detect the straight line and generate 13 candidates of the curved lane by applying a geometric model. We then vote those candidates on the feature image and consider the candidate which acquires the...
In vehicular ad hoc networks (VANETs), the wireless communication link is fragile because of vehicles' fast moving characteristics, which has facilitated extensive researches on vehicle-to-vehicle (V2V) link properties in recent decade. However, many applications need infrastructure's assistance, leading to that a link's actual characteristic is jointly determined by both direct V2V and vehicle-to-infrastructure...
When multiple miniature vehicles with individual position and inter-vehicle distance measurement ability collaborate in a formation, navigation base can be established by data fusion in a decentralized and standalone scheme. A Composite Data Fusion (CDF) algorithm which combines Least Square Error and Kalman Filtering is proposed in this paper to build navigation base with optimized computing stress...
This paper presents a new energy and power management control strategy for battery electric vehicle (BEV) with supercapacitors (SCs) based on speed command and acceleration estimation. The purpose of the control strategy is to increase the capability of regenerative braking energy capturing and to improve DC bus voltage regulation. The control strategy uses cascade voltage and current control of SCs...
Vision-based road signs detection and recognition has been widely used in intelligent robotics and automotive autonomous driving technology. Currently, one-time calibration of inverse perspective mapping (IPM) parameters is employed to eliminate the effect of perspective mapping, but it is not robust to the uphill and downhill road. We propose an automatic inverse perspective mapping method based...
Transmission is one of the crucial elements of the driveline that affects vehicle fuel economy and comfort. It can transfer power in different combinations of torque and speed. This paper focuses on the modeling, simulation and control of a two-speed transmission for electric vehicles which has seamless gear shifting specification. The transmission incorporates two-stage planetary gear sets and two...
This paper presents the development of an algorithm that uses nonlinear model predictive control (NMPC) to avoid collisions between a driver's vehicle and the nearby vehicles in complex situations. In particular, the paths of the driver's vehicle and the nearby vehicles are predicted to avoid collisions. NMPC is used to predict the paths of all vehicles, and if a collision is detected in the predicted...
This Document shows the control LQR (Linear quadratic Regulator) PI (Proportional Integral)Vectorial design, which is developed to control the dynamic of a remote operated underwater vehicle ROV, to allow that the vehicle follow a horizontal trajectory autonomously . The results are showed through simulations of following the trajectory of ROV obtaining satisfactory results and complying with the...
This paper presents a novel design of a collision avoidance controller of networked vehicles using a centralized Model Predictive Control (MPC) concept. The primary objective is to avoid collisions. The secondary objective is dealing with the quality of the collision-free trajectory, which is defined in comparison to the predefined reference trajectory. The resulted optimization problem is non-convex...
For high speed maglev using ElectroMagnetic Suspension(EMS) as levitation method, the gap between vehicle and guideway surface is maintained by only about 10mm. Therefore, to prevent the contact and improve the ride comfort, the guideway irregularity should be controlled below a certain level. Especially, the LSM stator pack attached under guideway should be clamped without any looseness, otherwise...
This paper presents a Linear Quadratic with Integrator (LQI) controller for a hydrogen genset (internal-combustion combustion engine generator) which is used to extend electric vehicle range. Since the genset efficiency depends mostly on generator rotor speed and produced power, a maximum efficiency tracking method is required. The optimal operating conditions provided by the efficiency tracking module...
Traction system based on electric driven Continuously Variable Transmission (e-CVT) is widely used in full hybrid powertrains for passenger cars. This paper deals with a new solution for the layout of the e-CVT, which is based on coaxial and concentric arrangement of the electric machines. The hybrid electric transmission based on the e-CVT is proposed for the application on agricultural tractors.
This work investigates an event-based electric vehicle mass and grade estimation using a Recursive Least Squares (RSL) with variable forgetting factors method. Given the vehicle speed and electric power consumption, we proposed a two-layer identification architecture in which the first layer provides acceleration and cruise motion periods, whereas the second layer is responsible for mass and grade...
This paper deals with design and control of unmanned underwater vehicle (UUV) for nondestructive testing and inspections of submerged technologies. It covers water tanks, dams, reservoir, etc. The vehicle is designed as a neutrally buoyant rigid body with platform containing the phased array probe for weld testing. It works in two regimes — remote operational regime (6DOF) and AUV regime (3DOF). For...
Map Matching (MM) is an important part of Intelligent Transportation System (ITS). GPS fusing electronic map model is frequently used for vehicle navigation application. While most of the existing solutions fail to provide trustworthy trajectory when the situation is ambiguous (U-turn, road intersections …). Azimuth Angle of GPS point (AZP) started to be utilized as a new feature in Map Matching....
The design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control...
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