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Multi-UAV cooperation could improve combat effectiveness and UAV's survivability. Cooperation method and system are the bases of cooperation. To overcome the faults of existing cooperation methods and systems, work flow is introduced, the workflow-based multi-UAV cooperation method and the corresponding airborne cooperation system architecture are proposed. With the workflow-based multi-UAV cooperation...
Map matching is an important part of map routing in modern transportation applications. In the map matching process, the effect of two main components, i.e. (i) the features of road networks, and (ii) the design aspects of geolocation services, is still not well understood. In this paper, using a combination of probabilistic analysis and simulations we study the effects of the above factors on the...
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...
Global Navigation Satellite Systems (GNSS) based localization in the context of Intelligent Transportation Systems, Advanced Driver Assistance Systems and ultimately the development of autonomous vehicles often requires accuracy with integrity. Low-cost data fusion algorithms for positioning that integrate GNSS and additional in-vehicle sensor information are able to handle short term GNSS outages...
Vehicles in the near future will be equipped with dedicated short-range communications (DSRC) transceiver which holds great promise of significantly reducing vehicle collisions by enabling vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications. In addition, modern vehicles will be equipped with different on-board sensors such as GPS receivers and ranging sensors (e.g., cameras,...
This article implies the results of attitude determination of land vehicle with high precision GNSS signal receivers. We analyze vehicle roll angle, heading and geometric centre determination possibility and precision. There are theoretical and practical results presented in the article. In aim to implement the practical part two precise GNSS receivers were installed on the roof of a vehicle. GNSS...
Highly accurate digital road maps are the status quo for advanced driver assistance systems and automated driving functions. To achieve high map accuracies, recent approaches deployed high-cost and high-precision sensor systems. This paper proposes a novel automated map generation framework for standardized high-velocity roads using a low-cost sensor system composed of a monocular camera and a low-precision...
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,...
An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy pseudo-range measurements. Approaches such as Differential GNSS can improve the accuracy, but usually require an enormous amount of investment in base stations. The emerging...
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from precise determination of relative positions between dynamic traffic objects. With conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved...
Optical wireless communication (OWC) has recently been considered as one of the efficient and supportive technologies in automotive applications that drive attraction both in R&D and in their practical applications. Exchanging information about the relative directional position of each vehicle together with front and rear-facing direction is significant for fast, accurate and reliable communication...
Resonant induction wireless charging requires two-way communications between the ground side and the vehicle side charging apparatus for vehicle identification, billing, charge control and for other communications and control requirements. To date vehicle wireless charging systems have used off-the-self digital communications devices operating half-duplex operating in the very popular but increasingly...
The Cell-ID positioning technique is usually implemented on cellular networks to locate mobile phones according to the cell identification code forwarded by the Base Transceiver Station (BTS). The user is then assumed to be located at the same coordinate position as the BTS. However, this simple positioning method, also used in indoor location systems with WiFi or RFID technologies, suffers from a...
Electrified personal mobility vehicles are extremely important tools for elderly and disabled individuals. These devices offer freedom to partake in daily activities that would otherwise be difficult or perhaps impossible. Nearly all electrified mobility vehicles are battery powered, making the act of charging a necessity. Loss of power from an uncharged battery could place users in frustrating or...
Multi-hop broadcast communication is one of the main communication mechanisms to propagate safety and non-safety messages through vehicles in Vehicular Ad hoc Networks (VANETs). In our previous work, we proposed two broadcast schemes, fuzzy logic-based broadcast (FLB) and bandwidth-efficient fuzzy logic-assisted broadcast (BEFLAB). FLB offers high level of reachability where BEFLAB is more bandwidth...
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from highly accurate positioning. Shared position data between dynamic traffic objects via Inter-Vehicle Communication (IVC) are the backbone for deriving vehicle trajectories. These can be used for assessing a situation's criticality in...
The Smart cities are a relevant topic nowadays. It attracts most researchers and governmental authorities, due to the vision to adopt technology information and communication in this context, to facilitate access to urban services. Security stills a permanent challenge that affects most smart cities applications. Vehicular Ad Hoc Networks (VANets) is one of those applications, classified in the smart...
Always keeping a certain distance between vehicles in a platoon is important for collision avoidance. Centralized platoon systems let the leader vehicle determine and notify the velocities of all the vehicles in the platoon. Unfortunately, such a centralized method generates high packet drop rate and communication delay due to the leader vehicle's limited communication capability. Therefore, we propose...
This paper introduces visible light communication (VLC) for inexpensive vehicle-to-vehicle messaging (V2V) using off the shelf LEDs and photo diodes. VLC is a cost effective method to integrate with intelligent transport systems (ITS) for road safety applications. Light from the brake lamps of a vehicle can be used to transmit messages for emergency hard brake, so that the following vehicle can take...
In Vehicular Ad-hoc Networks (VANETs) communication among vehicles enables new advanced driver assistance systems. Cooperative Awareness Messages (CAMs) are so frequently exchanged that deployable electronic control units will not be powerful enough to process them all. Thus, most relevant CAMs need to be selected for processing. In this paper, we give an overview of relevance estimation function...
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