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This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
Vehicular Ad-Hoc Network, or VANET is a computerized system which provides communications for a group of vehicles between each other and with equipments installed on the road side (RSU) or with camera mounted on the traffic light poles or, even with sophisticated sensors. In this paper we propose a new model of cluster formation based on beacon delay for real scenarios in VANET. Our approach is fully...
The increasing number of vehicles nowadays makes traffic congestion problems, inefficient traffic management cannot solve the jam at intersection. In this paper, we propose an intelligent traffic control scheme which uses the dynamic traffic information. An improved algorithm is given to choose phase matrices for short-term throughput maximization by allocate more durations of green-sign to those...
Reversing with a dolly steered trailer configuration is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2-trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure...
Quality of service (QoS) constrained multicast service over vehicular networks has considerable benefit for both road safety and entertainment, while the resource allocation problem of it is challenging due to the high mobility of vehicles. In this paper, we manage the vehicle mobility by dividing one scheduling round into multiple segments, and investigate the resource allocation problem to answer...
Vehicle recognition is one of the main challenges in Intelligent Transportation Systems (ITS). The need to recognize the vehicle type can help insurance companies, public safety organizations, infomobility, and policy-makers in general. In this paper, we propose a vehicle recognition system based on speed estimation, vehicle length estimation and classification of the vehicle type. We developed a...
Incorporating driver behavior information into vehicle control strategies can significantly improve performance of vehicle control systems, such as active safety systems and driver assistance systems. This paper proposes an algorithm for driver behavior characterization based on handling limits. In order to implement the handling limit-based algorithm, an interacting multiple model estimation technique...
Because both drivers and passengers may have different time constraints and preferences for carpooling, it is hard to manually find the best carpooling match, i.e., the lowest fuel-cost route, between them in the traditional carpooling web site. With the help of real-time traffic information exchanged among nearby vehicles through the vehicular ad-hoc network (VANET), this paper proposes the dynamic...
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...
The conventional steering principle (Ackerman theory) for existing steering systems of a multi-axle cane determines the steering angle of each axle by focusing on minimizing the slip angles rather than enhancing a driver's steering efficiency. Therefore, this paper proposed a LQR-based adaptive steering control algorithm of a multi-axle crane which solves the optimal steering angles to improve the...
In this paper, we mainly focus on a comparison of three types of dynamic programming based algorithms for optimal and near-optimal solutions of traffic signal control problem. The algorithms are backward dynamic programming (BDP), forward dynamic programming (FDP), and approximate dynamic programming (ADP). The traffic signal control model at isolated intersection is formulated by discrete-time Markov...
We collaborated with the Monterey Bay Aquarium Research Institute (MBARI) to improve the depth control algorithm used by the Dorado class autonomous underwater vehicle (AUV) in conducting bathymetric surveys and other remote sensing tasks. The algorithm enables better bottom following by planning for the depth profile that follows the desired depth best, while pulling up safely for bathymetry. The...
This paper presents a distributed clustering algorithm, called DCEV, which constructs multi-hop clusters. DCEV places vehicles into non-overlapping clusters which have adaptive size based on their relative mobility. The cluster formation is based on a D-hop clustering scheme where each node selects its cluster head in at most D-hop distance. To create clusters, DCEV uses a new metric to let vehicles...
Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). This paper considers the dynamic window (DW) algorithm for reactive horizontal COLAV for AUVs, and uses the HUGIN 1000 AUV in a case study. The DW algorithm is originally developed...
A control algorithm for velocity tracking of autonomous underwater vehicles (AUV) is presented in this work. The controller is realized using the transformed equations of motion obtained from the inertia matrix decomposition. The control gains contain dynamics of the vehicle, which cause that the motion strictly depend on the system parameters. The stability of the system together with the controller...
We present a motion planning algorithm for autonomous aggressive vehicle maneuvers. The motion planner takes advantages of the sparse stable trees (SST), the RRT* algorithm and the model predictive control (MPC) design. The use of the sparsity property helps to reduce the computational burden of the RRT* method by removing non-useful nodes in each iteration (i.e., rewiring) and therefore to quickly...
Open vehicle routing problem (OVRP) is considered as a variant of vehicle routing problem (VRP), which has two hierarchical objectives, i.e., to minimize the number of routes, and to minimize the total cost measured by travel distances. Since the split delivery vehicle routing problem (SDVRP) has been studied extensively, and demonstrated that it can reduce the cost by at most 50% by allowing to split...
In this work a distributed algorithm for the optimization of signal setting on urban network is proposed. The Traffic Signal Synchronization is a traffic engineering technique of matching the green light times for a series of intersections to enable the maximum number of vehicles to pass through, thereby reducing stops and delays experienced by motorists. Synchronizing Traffic Signals ensures a better...
In this paper we propose a new heuristic algorithm for the Team Orienteering Problem with Time Windows (TOPTW). This problem is applicable to several real life problems. The route planning of the vehicles which belong to a company or the tourist trip design problem, are some of them. In the first problem, each customer is associated with a profit which can be obtained after visiting them. The objective...
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