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Nowadays, the development of Intelligent Transportation System (ITS) is increasing due to its versatility, adaptability and use of clean energy. There are a number of pass and on-going projects worldwide dealing with the different challenges and approaches to solve road transport-related issues. Some of them are dealing with the Cybernetic Transportation Systems (CTS), which is an urban mobility concept...
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design...
In this paper, the performance of the well-known Generalized Adaptive Smoothing Method (GASM) as online traffic speed estimator with Floating Car Data (FCD) as single source of data is assessed. Therefore, the main challenges originating from the sparseness and delay in collecting FCD are addressed and a procedure using the GASM is proposed that allows estimating traffic velocities continuously. In...
This paper considers the problem of optimal trajectory generation for autonomous driving under both continuous and logical constraints. Classical approaches based on continuous optimization formulate the trajectory generation problem as a nonlinear program, in which vehicle dynamics and obstacle avoidance requirements are enforced as nonlinear equality and inequality constraints. In general, gradient-based...
Performance measures and adaptive control methodologies for traffic signal systems currently require intersections to be instrumented with vehicle detectors and communication equipment, which can require substantial engineering resources to deploy and maintain. Recent studies have explored the use of Connected Vehicle (CV) data for signal performance measures at various levels of market penetration,...
Visible Light Communication (VLC) is a new emerging technology that is being proposed as a reliable and supportive choice for short range communications in ITS. On the same context, Laser Range Finders (LRF) sensors are used for the vehicular environment perception. Compared to VLC, LRF can provide more coverage range and extended viewing angle. To take the full advantages of both technologies features,...
The optimal speed trajectory for a heavy duty truck is calculated by using the Pontryagin's maximum principle. The truck motion depends on controllable tractive and braking forces and external forces such as air and rolling resistance and road slope. The solution is subject to restrictions such as maximum power and position dependent speed restrictions. The intended application is driving in environments...
This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030. We use a path-velocity decomposition approach to separate the motion planning problem into a path planning problem and a velocity planning problem. The path planner first generates a collision-free piecewise linear...
Both safety and non-safety applications of vehicular networks rely on accurate position information. However, accurate localization of a vehicle in a global navigation satellite system (GNSS) denied environment is a challenging and still open research problem. The 802.11p dedicated short-range communication systems (DSRC), designed for vehicle-to-vehicle and vehicle-to-infrastructure communications,...
The detection of lane layout in the surroundings of the ego-vehicle is a key issue for modern ADAS and autonomous driving. Most modern systems rely on annotated spatial maps to provide lane information. However, these maps are not available everywhere, and thus have to be often supported by direct detection systems (e.g. cameras, lasers). Such systems detect lane boundaries by directly observing lane...
The Highly Automated Driving Map (HAD Map), is an essential and significant research topic in automated driving. In the meanwhile, the corrugated beam guardrail, known as one kind of the traffic crash barrier, is one of the most important elements in the HAD Map. Our novel contribution in this paper is proposing a method to detect corrugated beam guardrail automatically from mobile laser scanning...
Many vision-based systems have been proposed for intersection monitoring, but few of them use wide angle cameras. In this paper, we present a fisheye-stereo monitoring system that will be installed especially in rural areas. Our goal is to estimate the extrinsic calibration decoupled into a rotation followed by a translation. In the context of rural intersections, methods that purely rely on the geometry...
Given the current capabilities of autonomous vehicles, one can easily imagine autonomy released on the road in the near future. However, it can be assumed that the transition will not be instantaneous, meaning they will have to be capable of driving well in a mixed environment, with both humans and other autonomous vehicles on the road. This leaves a number of concerns for autonomous vehicles in terms...
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...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
For manned drive for the rubber tram to track virtual tracks can easily lead to driver fatigue problems, on the basis of the visual navigation, an automatic steering control method based on the model predictive control is proposed. In the paper, Firstly, the automatic steering control principle based on visual navigation vehicle is introduced; then, the automatic steering predictive controller is...
Autonomous Vehicle (AV) or self-driving vehicle technology promises to provide many economical and societal benefits and impacts. Safety is on the top of these benefits. Trajectory or path planning is one of the essential and critical tasks in operating the autonomous vehicle. In this paper we are tackling the problem of trajectory planning for fully-autonomous vehicles. Our use cases are designed...
The recent build-up network of Automatic Identification System (AIS) equipped on vessels provides a rich source of vessel movement information. AIS is originally designed for automatically exchanging navigation information, such as their unique identification, position, course, and speed, with nearby vessels and terrestrial receivers to affect collision avoidance and safety control. The collected...
We address the problem of rendezvous between two agents in urban street networks. Specifically, we consider the case where the agents have variable speeds and they need to schedule a rendezvous or a meeting under uncertainty in their travel times. Examples of such a scenario range from everyday life where two people would like to coordinate a meeting while going from office to home; to a futuristic...
In order to make full use of the massive vehicle networking data and dig out the characteristics of the vehicle driving behaviors, the analysis of the massive vehicle networking data is indispensable. And clustering analysis is an effective way to extract the information which can guide and supervise the vehicles. In this paper, we propose a novel initial clustering center selection algorithm based...
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