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In this paper, we present a motion planning algorithm for autonomous navigation in highly constrained urban environments. Since common approaches to on-road trajectory planning turned out to be unsuitable for this task, we instead extended an A*-based planner originally designed for navigation in unstructured environments. Two novel node expansion methods were added to obtain smooth and accurate trajectories...
This paper examines a mission planning problem for a solar-powered unmanned ground vehicle (UGV) which requires the vehicle to visit a series of objective points in minimal time subject to a strict net-energy change constraint. Though related to the Traveling Salesperson Problem, the mission planning problem discussed herein imposes further complexity through additional coupled mixed-variable sets...
This paper aims to present a methodology that helps improving systems modelling by using Process Integration and Design Optimization technologies. Then, the methodology has been applied on an automotive case study: the improvement of the hybrid vehicle TOYOTA PRIUS III modelling. This work has been carried out in the context of the international research program PLACIS (PLAteforme Collaborative d'Ingénierie...
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,...
The Energetic Macroscopic Representation is used in this paper to model a pre-transmission parallel hybrid electric vehicle and its control and energy management system. Since optimizing energy management onboard is among the key factors in reducing consumption of hybrid vehicles, several strategies are developed in the literature such as instantaneous-optimization rule-based strategies and global-optimization...
The economic feasibility and infrastructure optimization of in-motion wireless power transfer (WPT) in the U.S. is evaluated using dynamic vehicle models integrated with GPS stamped real world drive cycle data. Results show total vehicle level savings greater than the WPT electric vehicle (EV) purchase price with a societal level infrastructure payback time of 11.3 years at 25% fleet penetration for...
Lane Detection (LD) systems are now commonly used in autonomous cars to assist drivers. However, LD takes up only a small part of the Advanced Driver Assistant Systems (ADAS) and should be highly optimised to make more room for other more complicated algorithms such as stereo vision systems that are incorporated into an ADAS. This paper mainly focuses on an optimised implementation of the linear lane...
Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving vehicle.
Many driver models assume that a human driver can be modeled as a linear time-invariant system. Although during specific execution tasks this can be a reasonably good model, in general, this is an unrealistic and quite restrictive assumption for most real-life situations where more complex cognitive functions need to be evoked, such as long-term, deliberative planning, prioritization among several...
This paper proposes a new method to analyze driver behavior. Analysis of the behavior is done through the observation of the time-evolution of parameters of simple driver models. The behavior analysis is decomposed in two steps. First the driver model have to be selected or designed to represent the average behavior of a large sample of drivers. Then personal driver's behavior evolution can be analyzed...
In many cases, solving optimisation problems, in particular a dynamic optimisation problem, is time-consuming. This is due to the long time of calculation of the objective function value. For example, during optimisation of the articulated vehicle it is necessary to integrate dynamic equations of motion in the whole time interval. The paper presents an application of own algorithm (EVCA) for reduction...
Traffic congestion control is pivotal for intelligent transportation systems. Previous works optimize vehicle speed for different objectives such as minimizing fuel consumption and minimizing travel time. However, they overlook the possible congestion generation in the future (e.g., in 5mins), which may degrade the performance of achieving the objectives. In this paper, we propose a vehicle Trajectory...
Traffic signal operations play an important role in the effective functioning of the urban area. However, due to the increasing number of vehicles and the high dynamic of the traffic network, conventional traffic signal timing methods does not result in an efficient control. One alternative is to let traffic signal controllers learn how to adjust the lights based on the traffic situation. In this...
This article presents an empirical study deriving quantitative relations between vehicle properties and avionics systems. Existing optimization methods are used to calculate the optimal avionics systems for a great number of vehicles as well as common avionics platforms. A set of basic and easy-to-determine vehicle properties is suggested, which characterize the vehicle and drive the avionics system...
Planning routes, defined by a series of commanded waypoints between a start and goal location, for return-to-site missions using Autonomous Underwater Vehicles with Terrain Relative Navigation is particularly challenging due to the dependence of the navigation estimate on the path flown. Waypoints must be selected to ensure the vehicle has an accurate TRN navigation estimate to arrive at the intended...
This article presents an approach for flexible loads control in power systems with integration of electric vehicles (EV) and distributed generation for power system regulation. A control system with monitoring and control capabilities is proposed as a possible solution of the main problematic issues related to EV charging. IEC61850 standard is covered for data transfer between local and global monitoring...
In this work, a fault-tolerant control allocation technique is applied to FlatFish, an autonomous underwater inspection vehicle. The technique is based on multi-parametric programming and it's able to handle thruster failures and saturation. Special attention was given to obtain a small solution set, in order to guarantee feasibility for real-time implementation. The experiments consisted in performing...
Recent advancements introduced in the field of wireless technologies have led to the emergence of vehicular ad hoc networks (VANETs). VANET consists of vehicles and road-side units as its components. These components communicate with each other to share the information, mainly related to traffic conditions. In such networks, routing, secure transmission of control information and user messages, avoiding...
Buses and other vehicles with regular routes and stop patterns are an important application field for hybrid electric drives. Given initial and final desired state of charge (SOC) of the battery, the optimal distribution of power between both sources, battery and engine, can be computed off-line for a known driving cycle. In the case of a range extender (REX) with an engine switched between two operating...
Methods to find the optimum non-uniform onedimensional (1D) antenna array geometry for maximizing directivity are presented. These methods develop a novel objective function to incorporate with the extremum seeking control methods considered. A comparison is performed between the major extremum seeking control approaches for solving the resulting optimization problem: (a) Perturbation-based Extremum...
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