Papers by Keyword: Autonomous Vehicle

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Authors: Sun Woo Lee, Sok Joon Lee, Dong Hoon Lee
Abstract: Through vehicular platooning, a group of autonomous vehicles move together under the same control law with maintaining constant inter-vehicle distance and velocity. Owing to many advantages in the aspect of economy, environment, and safety, platoon has been developed for AHS (Automated Highway System). But there is little study of platoon in adversarial environment. Since vehicle safety is directly related to a passenger’s life, the in-depth study of adversarial platooning is of crucial importance. In this paper, we present that an attacker in platoon can cause serious accident just by slightly modifying control law and also discuss the control system designed for mitigating the damage of accident caused by the attacker.
Authors: Hong Fu Liu, Yu Zhang, Shao Fei Chen, Jing Chen
Abstract: We propose a framework based on stochastic collocation to solve autonomous vehicle optimal trajectory planning problems with probabilistic uncertainty. We model uncertainty from the location and size of obstacles. We develop stochastic pseudospectral methods to solve the minimum expectation cost of differential equation, which meets path, control, and boundary constraints. Results are shown on two examples of autonomous vehicle trajectory planning under uncertainty, which illustrated the feasibility and applicability of our method.
Authors: Xi Xi Deng, Xiao Nian Wang, Jin Zhu
Abstract: To solve lane detection problem in the system of autonomous vehicle, this paper proposes a method of texture segment based on perspective transformation. In this paper, firstly road images were captured through cameras installed on the vehicle, then make a perspective transform to road plane, so that the road and the non-road texture information effectively stand out. After calculation of the texture trend in the transformed image, radon transform can effectively distinguish between the road and the non-road area, and achieve the purpose of the texture regional segment. Experiments prove that this method can be used on the lane detection, which eliminate barriers and road borders effectively.
Authors: Arturo Mandujano Nava, Vignaud Granados Alejo, Mauro Paz Cabrera, Víctor Hugo López Enríquez
Abstract: This paper deals with the detailed conceptual design development of an autonomous vehicle, with the primary goal of transporting people with mobility problems or visual weakness, and thus avoid the risk of falls, tiredness, and fatigue; this aims to satisfy the needs of an increasing population with disabilities. An alternative solution is set for transfer based design methodology, which addresses each of the established requirements. The design stages established by Pahl & Beitz are described in detail, from the design proposal to functional prototype. The result of this work after evaluating the technical and financial analysis is a proposal of the functional design of the autonomous vehicle, which will be used in the main entrances of the Polytechnic University of Guanajuato (UPGTO). Regarding the autonomy of the vehicle, a vision system can be integrated if necessary as futre work, which will ensure its functionality and safety throughout its way; and thus be able to move through the main entrance towards the desired site.
Authors: Sheng Qing Yang, Jian Qiao Yu, Si Yu Zhang
Abstract: Motivated by recent research on cooperative search of autonomous vehicles, a new approach for searching unknown targets is introduced in this paper. The unknown targets are assumed to be static. ZAMBONI search in spiral curve form is considered to implement the cooperation of vehicles. Algorithms that based on geometry underlying search process are discussed to make vehicles act in the spiral curves form. The receding horizon control is introduced for obstacle avoidance which can result in a feasible trajectory during the search process. Simulations of the hybrid method based on ZAMBONI search and receding horizon control show promising results.
Authors: D. Vaishnavi, E. Sundari, T.V. Sangeetha, S. Shrinidhi, P. Saravanan
Abstract: In today’s fast paced world, transportation plays a very important role. Of all the different types of transportation available, cars are one of the most common and most preferred means of transportation for the majority of people. The classical Cruise control System maintains the pre-set speed and will also adapt itself to the change in acceleration of the preceding vehicle. But it is not sophisticated enough and reduces its speed to zero in case of critical conditions. In the proposed system, in addition to obstacle detection, a new feature is added which enables the vehicle to switchover to an empty lane when the preceding vehicle is too near or whenever there is a possibility of crash. This paper discusses about the implementation of the same. The main input to the system is the data collected by the ultrasonic sensors fixed to the four sides of the vehicle. The main processing unit analyses the data collected and sends out a control signal to the motor driver in accordance with the algorithm. H-Bridge in this system controls the speed and the direction of the vehicle by giving the appropriate control signal to the motor connected to the wheels. This paper deals with the design of the prototype model of the proposed system. The main control part of our system is realised by the Arduino microcontroller.
Authors: You Jun Choi, Hee Seok Moon
Abstract: The cyclic test is becoming one of important tests in automotive industry. Various cyclic tests are needed to be done after new concept of product or technology has developed. However it is almost impossible to do same test at same test condition in real situation because it highly depends on test road condition or driving ability of the driver. Therefore, in order to perform same performance test repeatedly, this paper describes about system configuration and path following algorithm for the cyclic test of the autonomous vehicle. The areas discussed in detail include vehicle modification, controller design, system configuration, navigation and path following algorithm. The performance of the test vehicle is also described and evaluated by experiment in real environment.
Authors: Lucian Ștefăniță Grigore, Anton Soloi, Ovidiu Tiron, Ciprianiulian Răcuciu
Abstract: The development of a family of autonomous robots with tracked propeller activated by electrical engines and equipped with very precise „human hand-likeˮgripping will allow their use in various fields. The precision is also ensured by the introduction into the driving system, more precisely into the basis of the driving system, of a stabilizing system of the operational platform. Providing a photovoltaic-type power supply will increase the autonomy of the robot. Finally, the installation of a GoPro Be a HERO s outdoor edition professional camera enables the viewing of an extended field and the transmission of the information to the user through Wi_FiBacPac + Remote compatible. There are many remote areas or whose medium is improper to a direct human intervention. That is why the development of such a family of autonomous robots is extremely useful.
Authors: Lutfi Mutlu, Erol Uyar
Abstract: In this work, a novel approach for navigation and guidance of a duo cycle autonomous robot vehicle by using ZigBee wireless control is presented. For navigation the angular position and location of the vehicle is measured intermittent by means of an electronic compass and a linear position encoder. Both measured values are then compared through a PC with the reference points of a certain trajectory, so that a given path can be followed by the vehicle autonomously. Besides navigation a self developed algorithm is integrated to the system control for possible obstacle avoidance and optimal path finding. The results of experimental testing showed the effectiveness of the proposed approach.
Authors: Wen Jian Ying, Fu Chun Sun
Abstract: This article presents an improved Rao-Blackwellized particle filter to overcome particles degeneracy phenomenon and acquire the better localization precision of the autonomous vehicle. The joint posteriori probability density is given that being correlative with the position and pose of the autonomous vehicle and the mark characters of the map. The algorithm utilizes a Markov chain Monte Carlo method with the sampling particle of the target to the resample mechanism of the Rao-Blackwellized particle filter. Simulation results show that the improved algorithm is valid.
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