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Path planning algorithms have evolved during decades to become computationally less expensive and optimal. In this paper a deterministic approach is used to find a path near to the shortest path using motion primitives. The motion primitives are constructed using a non-holonomic vehicle model. The physical model enables the algorithm to use a friction map and calculate paths with lower lateral slip...
In this paper we propose a trajectory planning approach for autonomous vehicles on structured road maps. Therefore we are using the well-known A∗ optimal path planning algorithm. We generate a safe optimal trajectory through a three-dimensional graph, considering the two-dimensional position and time. (1) The graph is generated dynamically with fixed time differences and flexible distances between...
In this paper, we present an adaptive and predictive control framework which improves the lateral stability and the tracking performance of an autonomous vehicle operating in various road conditions. We particularly focus on the modeling errors caused by simplifications while deriving a steering model employed in predictive controller. Such simplifications could degrade the control performance. In...
Risk predictive driving is essential to maintain safety while passing a parked vehicle, which is one of typical high risk traffic situations because a pedestrian might suddenly dart out from behind the parked vehicle. Aiming at generating a vehicle motion for risk predictive driving, first, a novel risk quantification method based on collision velocity accompanied with AEB (Automatic Emergency Braking)...
For advanced driver assistance system (ADAS) which are related to risk assessment or collision avoidance, predicting object vehicle's path is needed beyond the precise and reliable sensor data to improve the performance of path prediction. This paper proposes an object vehicle path prediction method using parametric interpolation. To obtain a precise and reliable sensor data, multirate sensor data...
Autonomous transportation systems are embarking our lives at an increasing pace. Over the past few years, several commercially available vehicles are incorporated with increasing levels of autonomy. The Autonomous Transportation Operating Modules (ATOM) framework is proposed to organize and coordinate the development as well as testing of these autonomous systems. One of the most important modules...
Integration of Advanced Driver Assistance Systems (ADAS) and Vehicle to Vehicle communication (V2V) provide a wide range of applications with the potential to enhance road safety and prevent traffic accidents. During the last few years, significant attention has been paid to developing and implementing both systems, since V2V and ADAS are considered as key technologies of future Intelligent Transportation...
In a vehicular ad hoc network (VANET), vehicles attempt to improve safety by emitting safety messages that others receive to increase their awareness of one another. Yet, the conflicting data delivery requirements of safety applications can potentially jeopardize safety itself. While many information dissemination techniques have been proposed to improve data delivery in a VANET, such as flooding...
This work presents a novel virtual vehicle based decentralized coordination framework for Connected Autonomous Vehicles (CAVs). We explore the idea of CAVs being capable of positioning virtual vehicles to share their intended maneuver as well as request cooperation. This framework has potential to inspire versatile solutions and provides an intuitive interface to interact with reactive and unconnected...
Whether the routing protocol for Vehicular Ad Hoc Networks can real-time perceive the connectivity change of the road or not is one of the key factors to evaluate its routing performance. Aiming at the limits of the current research on routing protocols for Vehicular Ad Hoc Networks, a novel routing protocol is presented in this paper, which considered the influence caused by both vehicle density...
In this paper, a User-Based model is proposed to analyze and evaluate the performance of IEEE 802.11p MAC protocol for vehicular safety applications that can save lives and improve traffic flow. The proposed model provides a complete stability analysis compared to the Markovian models. Moreover, it provides a means for conducting further analysis on the design parameters of the protocol, leading to...
Driverless vehicles have received a great deal of attention in the Intelligent Transportation Systems (ITS) research fields during the last decade. Moreover, with the release of several intelligent vehicles to the roads, the necessity of cooperation and coordination among the vehicles, infrastructure and road users is increasing. In order to implement these approaches, a proper communication architecture...
Congestion growth problem is a daily life experience all over the world, especially in large cities. The motion of Emergency Vehicles (EVs) like Ambulances, police, and firefighting vehicles are highly affected by traffic Congestion, by which rescue time may cost a life. The Priority Level Mutualism for Emergency Vehicle (PLMEV) algorithm aims to reduce the waiting time by giving higher priority for...
Full autonomy of road vehicles is a major goal of the automotive industry. To reach such high autonomy it is necessary to provide an accurate and comprehensible situation description for the environment and the vehicle itself. A consistent depiction is essential to facilitate data exchange and communication between internal modules, e.g. collision check and environment model, as well as communication...
Map Matching Algorithms (MMA) are developed to solve spatial ambiguities that arise in the process of assigning GPS measurements onto a digital roadway network. There is a lack of systematic parameter tuning approaches for optimizing the MMA performance. Thus, a novel integrated framework is proposed for a systematic calibration of the parameters of a post-processing MMA. The calibration approach...
Semi-autonomous driving assistance systems have a high potential to improve the safety and efficiency of the battery electric vehicles that are enduring limited cruising range. This paper presents an ecologically advanced driver assistance system to extend the functionality of the adaptive cruise control system. A real-time stochastic non-linear model predictive controller with probabilistic constraints...
Modern wireless technology opens the door for several new Intelligent Transportation applications. In an academic environment, students use transit bus system on a daily base. El-Tawab et al. [1] introduced a cyber-physical system to monitor the quality of service for transit buses around an academic campus. This cyber-physical system detects the number of riders waiting for the bus system at each...
Integrating Micro-Electro Mechanical System-Inertial Measurement Unit (MEMS-IMU) with Global Navigation Satellite System (GNSS) has been a widespread method to achieve cost-effective navigation solution for land vehicles. However, due to the significant and time-varying errors inherent to MEMS inertial sensors, the performance of Strapdown Inertial Navigation System (SINS) based on MEMS-IMU would...
Freeway traffic control strategies such as ramp metering and variable speed limits are gaining importance in relieving freeways congestion. Along with reducing the travel time, freeway traffic control strategies are also considered as key players in improving the traffic safety and decreasing the vehicle emissions. Traffic simulation tools overtook the real-world implementations, for testing traffic...
In this paper the practical issues of automotive surface identification system development are considering. The novelty of this work is the combining of different training algorithms, neural network structures and methods to increase the classification accuracy and avoid overfitting of real-world data. The obtained results thereby demonstrate that the use of proposed system architecture and statistical...
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