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More than 1 million people die from traffic accidents each year around the world, which has arose public concerns to the vehicle safety. This paper examines improvement plan on the existent system of avoiding automobile rear-end collision. Based on the distance measurement millimeter-wave radar, the paper make predictions about relative distance and speed of the vehicle and the external substrate...
This paper considers the vehicle positioning problem of an automobile on-board navigation system which is mainly supported by Global Positioning System (GPS). To complement GPS, the existing navigation techniques incorporate additional vehicle sensors, together with the map data to match the positioning solution with the road map. We propose an advanced map-matching algorithm that integrates the additional...
This paper considers the problem of constructing an estimator for attitude and gyro bias with close-to-optimal noise properties and proven stability. The estimator is based on measuring difference in range from three or more known, fixed positions to two or more points on the vehicle. In addition, IMU measurements are also used, and a position estimate is needed. The vectors between points on the...
Cooperative multi-AUV localization has the potential to outperform single-AUV localization, by taking advantage of data sharing among the team members. Unlike terrestrial communication links, underwater communication links have many issues pertaining to the channel stability and bandwidth, and therefore a decentralized localization is preferred. However this opens up new challenges to team members...
Interest towards the applications of ICT in public and private urban transport has grown significantly over the last few years. In the field of the user interfaces with transportation, however, continuous, highly context-aware, real time interaction can still be found only in a very limited number of cases, mostly in private transportation. One of the main issues in actually developing an assistive,...
Progress in science and technology has accelerated the pace of development in the intelligent vehicle system. Multiple sensors distributed in the system are used to gather and determine vehicle environmental information. Regardless of the accuracy of sensors, the data fusion algorithm employed in multi-sensors system affects the decision-making directly and deeply. According, it is necessary to design...
Localization is a key capability for autonomous vehicles especially in urban scenarios. We propose the use of pole-like landmarks as primary features in these environments, as they are distinct, long-term stable and can be detected reliably with a stereo camera system. Furthermore, the resulting map representation is memory efficient, allowing for easy storage and on-line updates. The localization...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
A smart city is emerging as an application of information and communication technologies to mitigate the problems generated by the urban population growth. One of the smart city solutions is to establish an efficient fleet management relating to the use of a fleet of vehicles (e.g., ambulances and police vehicles). The most basic function in a fleet management system is the real time vehicle tracking...
An Unscented Kalman Filter (UKF) to simultaneously estimate the navigation state of an Autonomous Underwater Vehicle (AUV) and the sea current, a priori unknown, is proposed. The filter is the result of a modification of an UKF developed in the past by the authors for the sole purpose of navigation state estimation. The new algorithm has been obtained by integrating the vehicle model with a contribution...
Integrated navigation systems installed on trains usually make use of data fusion of GNSS data, INS data and wheel velocity data. Since the connection between the carriage body of the wagon and the wheel is not rigid, special considerations need to be taken into account to achieve a mostly optimal behavior of the integrated navigation solution even under prolonged GNSS outages. In this paper, an...
With the rapid development of GPS devices, satellite and wireless communications technologies, many trajectory data is generated. Consequently, processing and analyzing trajectory data have become a hot topic. In this paper, an improved noise filtering, trajectory compression and trajectory segmentation method based on Kalman filter and Douglas-Peucker algorithm and corner is proposed. Firstly, the...
The Simultaneous Localization And Mapping (SLAM) estimation problem using range or bearing angle sensors is an inherently nonlinear problem due to the nonlinear relationship between the measurements and the positions of the landmarks and the pose of the vehicle. Assuming an Attitude and Heading Reference System (AHRS) and that velocity is measured, it is shown that the nonlinear kinematic models in...
The paper presents the mathematical and software models associated to a MEMS INS/GPS integrated navigator. As a data fusion method for the integration of the two navigators a Kalman filter is used. During the experimental evaluation of the synergic navigator on the inertial system were not performed calibration and error compensation procedures, the data being entered in the navigation algorithm in...
Slip control is a common and crucial functionality for a number of vehicles ranging from cars to tractors and trucks. The purpose of slip control is to improve vehicle's traction and motion stability, prevent excessive wheel slippage and provide stable braking. Slip is a non-linear function of the vehicle's ground speed and wheel rotation frequency and as such depends on the internal state variables,...
This paper investigates the problem of simultaneous road profile estimation and anomaly detection. A front half-car model is used to capture the dynamics of vehicle-road interaction where road excitations at the two wheels are treated as inputs. A multi-input observer is exploited to estimate the inputs to obtain road profile. To implement the input observer, a jump diffusion process estimator is...
The real-time mapping of street atmospheric pollution concentration does play an important role because its knowledge is crucial for strategy-makers to make more effective control strategies to decrease urban atmospheric pollution and improving urban atmospheric environment. Combining the conventional methods (e.g. the dispersion model prediction and neural network prediction) and mobile measurement...
In this paper, we proposes a novel tracking algorithm combining Kalman Filter with mean-shift. Kalman Filter predicts the vehicle position in the next frame. Mean-shift finds the best candidate which has maximum similarity with the tracked vehicle in the predicted area. Kalman Filter updates its state value of vehicle position with the position of the best candidate from the mean-shift tracker. As...
Cooperative driving improves vehicle safety and the driving experience by adapting the vehicle performance to the surrounding traffic. Communication of accurate and timely information obtained from multiple in-vehicle sensors, other vehicles and nearby infrastructure is essential to guarantee the robustness and reliable performance of the cooperative driving system. However, processing the information...
This paper presents a method for localizing a land vehicle using low cost MEMS IMU sensors and a terrain map in global positioning system (GPS) denied environment. Previous attempts to localize a vehicle based on terrain information used a tactical grade IMU which is not cost-effective on a commercial scale. On the other hand, MEMS sensors are very cheap but cannot provide accurate attitude estimation...
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