Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Download or read book Path Planning for Autonomous Vehicles Ensuring Reliable Driverless Navigation and Control Maneuver written by Muhammad Aizzat Zakaria and published by . This book was released on 2019 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Download or read book Path Planning for Autonomous Vehicles Ensuring Reliable Driverless Navigation and Control Maneuver written by Muhammad Aizzat Zakaria and published by . This book was released on 2019 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Download or read book Autonomous Connected Electric and Shared Vehicles written by UMAR ZAKIR ABDUL HAMID and published by SAE International. This book was released on 2022-10-28 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: We are at the beginning of the next major disruptive cycle caused by computing. In transportation, the term Autonomous, Connected, Electric, and Shared (ACES) has been coined to represent the enormous innovations enabled by underlying electronics technology. The benefits of ACES vehicles range from improved safety, reduced congestion, and lower stress for car occupants to social inclusion, lower emissions, and better road utilization due to optimal integration of private and public transport. ACES is creating a new automotive and industrial ecosystem that will disrupt not only the technical development of transportation but also the management and supply chain of the industry. Disruptions caused by ACES are prompted by not only technology but also by a shift from a traditional to a software-based mindset, embodied by the arrival of a new generation of automotive industry workforce. In Autonomous, Connected, Electric and Shared Vehicles: Disrupting the Automotive and Mobility Sectors, Umar Zakir Abdul Hamid provides an overview of ACES technology for cross-disciplinary audiences, including researchers, academics, and automotive professionals. Hamid bridges the gap among the book’s varied audiences, exploring the development and deployment of ACES vehicles and the disruptions, challenges, and potential benefits of this new technology. Topics covered include: • Recent trends and progress stimulating ACES growth and development • ACES vehicle overview • Automotive and mobility industry disruptions caused by ACES • Challenges of ACES implementation • Potential benefits of the ACES ecosystem While market introduction of ACES vehicles that are fully automated and capable of unsupervised driving in an unstructured environment is still a long-term goal, the future of mobility will be ACES, and the transportation industry must prepare for this transition. Autonomous, Connected, Electric and Shared Vehicles is a necessary resource for anyone interested in the successful and reliable implementation of ACES. “ACES are destined to be a game changers on the roads, altering the face of mobility.” Daniel Watzenig, Professor Graz University of Technology, Austria

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-06 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Download or read book Autonomous Driving written by Markus Maurer and published by Springer. This book was released on 2016-05-21 with total page 706 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".

Download or read book Decision making Strategies for Automated Driving in Urban Environments written by Antonio Artuñedo and published by Springer Nature. This book was released on 2020-04-25 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes an effective decision-making and planning architecture for enhancing the navigation capabilities of automated vehicles in the presence of non-detailed, open-source maps. The system involves dynamically obtaining road corridors from map information and utilizing a camera-based lane detection system to update and enhance the navigable space in order to address the issues of intrinsic uncertainty and low-fidelity. An efficient and human-like local planner then determines, within a probabilistic framework, a safe motion trajectory, ensuring the continuity of the path curvature and limiting longitudinal and lateral accelerations. LiDAR-based perception is then used to identify the driving scenario, and subsequently re-plan the trajectory, leading in some cases to adjustment of the high-level route to reach the given destination. The method has been validated through extensive theoretical and experimental analyses, which are reported here in detail.

Download or read book Autonomous Vehicle Technology written by James M. Anderson and published by Rand Corporation. This book was released on 2014-01-10 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: The automotive industry appears close to substantial change engendered by “self-driving” technologies. This technology offers the possibility of significant benefits to social welfare—saving lives; reducing crashes, congestion, fuel consumption, and pollution; increasing mobility for the disabled; and ultimately improving land use. This report is intended as a guide for state and federal policymakers on the many issues that this technology raises.

Download or read book Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems written by Yuanzhe Wang and published by Springer Nature. This book was released on 2022-09-21 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical foundations and technical implementation guidelines for multi-vehicle fleet maneuvering, which can be implemented by readers and can also be a basis for future research. As a research monograph, this book presents fundamental concepts, theories, and technologies for localization, motion planning, and control of multi-vehicle systems, which can be a reference book for researchers and graduate students from different levels. As a technical guide, this book provides implementation guidelines, pseudocode, and flow diagrams for practitioners to develop their own systems. Readers should have a preliminary knowledge of mobile robotics, state estimation and automatic control to fully understand the contents in this book. To make this book more readable and understandable, extensive experimental results are presented to support each chapter.

Download or read book Trajectory Planning of an Autonomous Vehicle in Multi Vehicle Traffic Scenarios written by Mahdi Morsali and published by Linköping University Electronic Press. This book was released on 2021-03-25 with total page 25 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tremendous industrial and academic progress and investments have been made in au-tonomous driving, but still many aspects are unknown and require further investigation,development and testing. A key part of an autonomous driving system is an efficient plan-ning algorithm with potential to reduce accidents, or even unpleasant and stressful drivingexperience. A higher degree of automated planning also makes it possible to have a betterenergy management strategy with improved performance through analysis of surroundingenvironment of autonomous vehicles and taking action in a timely manner. This thesis deals with planning of autonomous vehicles in different urban scenarios, road,and vehicle conditions. The main concerns in designing the planning algorithms, are realtime capability, safety and comfort. The planning algorithms developed in this thesis aretested in simulation traffic situations with multiple moving vehicles as obstacles. The re-search conducted in this thesis falls mainly into two parts, the first part investigates decou-pled trajectory planning algorithms with a focus on speed planning, and the second sectionexplores different coupled planning algorithms in spatiotemporal environments where pathand speed are calculated simultaneously. Additionally, a behavioral analysis is carried outto evaluate different tactical maneuvers the autonomous vehicle can have considering theinitial states of the ego and surrounding vehicles. Particularly relevant for heavy duty vehicles, the issues addressed in designing a safe speedplanner in the first part are road conditions such as banking, friction, road curvature andvehicle characteristics. The vehicle constraints on acceleration, jerk, steering, steer ratelimitations and other safety limitations such as rollover are further considerations in speedplanning algorithms. For real time purposes, a minimum working roll model is identified us-ing roll angle and lateral acceleration data collected in a heavy duty truck. In the decoupledplanners, collision avoiding is treated using a search and optimization based planner. In an autonomous vehicle, the structure of the road network is known to the vehicle throughmapping applications. Therefore, this key property can be used in planning algorithms toincrease efficiency. The second part of the thesis, is focused on handling moving obstaclesin a spatiotemporal environment and collision-free planning in complex urban structures.Spatiotemporal planning holds the benefits of exhaustive search and has advantages com-pared to decoupled planning, but the search space in spatiotemporal planning is complex.Support vector machine is used to simplify the search problem to make it more efficient.A SVM classifies the surrounding obstacles into two categories and efficiently calculate anobstacle free region for the ego vehicle. The formulation achieved by solving SVM, con-tains information about the initial point, destination, stationary and moving obstacles.These features, combined with smoothness property of the Gaussian kernel used in SVMformulation is proven to be able to solve complex planning missions in a safe way. Here, three algorithms are developed by taking advantages of SVM formulation, a greedysearch algorithm, an A* lattice based planner and a geometrical based planner. One general property used in all three algorithms is reduced search space through using SVM. In A*lattice based planner, significant improvement in calculation time, is achieved by using theinformation from SVM formulation to calculate a heuristic for planning. Using this heuristic,the planning algorithm treats a simple driving scenario and a complex urban structureequal, as the structure of the road network is included in SVM solution. Inspired byobserving significant improvements in calculation time using SVM heuristic and combiningthe collision information from SVM surfaces and smoothness property, a geometrical planneris proposed that leads to further improvements in calculation time. Realistic driving scenarios such as roundabouts, intersections and takeover maneuvers areused, to test the performance of the proposed algorithms in simulation. Different roadconditions with large banking, low friction and high curvature, and vehicles prone to safetyissues, specially rollover, are evaluated to calculate the speed profile limits. The trajectoriesachieved by the proposed algorithms are compared to profiles calculated by optimal controlsolutions.

Download or read book Creating Autonomous Vehicle Systems written by Liu Shaoshan and published by Springer Nature. This book was released on 2017-10-25 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Download or read book Motion Planning for Autonomous Vehicles in Partially Observable Environments written by Taş, Ömer Şahin and published by KIT Scientific Publishing. This book was released on 2023-10-23 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.

Download or read book Creating Autonomous Vehicle Systems Second Edition written by Liu Shaoshan and published by Springer Nature. This book was released on 2022-05-31 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is one of the first technical overviews of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences designing autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions as to its future actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, new algorithms can be tested so as to update the HD map—in addition to training better recognition, tracking, and decision models. Since the first edition of this book was released, many universities have adopted it in their autonomous driving classes, and the authors received many helpful comments and feedback from readers. Based on this, the second edition was improved by extending and rewriting multiple chapters and adding two commercial test case studies. In addition, a new section entitled “Teaching and Learning from this Book” was added to help instructors better utilize this book in their classes. The second edition captures the latest advances in autonomous driving and that it also presents usable real-world case studies to help readers better understand how to utilize their lessons in commercial autonomous driving projects. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find extensive references for an effective, deeper exploration of the various technologies.

Download or read book Planning Universal On Road Driving Strategies for Automated Vehicles written by Steffen Heinrich and published by Springer. This book was released on 2018-04-19 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: Steffen Heinrich describes a motion planning system for automated vehicles. The planning method is universally applicable to on-road scenarios and does not depend on a high-level maneuver selection automation for driving strategy guidance. The author presents a planning framework using graphics processing units (GPUs) for task parallelization. A method is introduced that solely uses a small set of rules and heuristics to generate driving strategies. It was possible to show that GPUs serve as an excellent enabler for real-time applications of trajectory planning methods. Like humans, computer-controlled vehicles have to be fully aware of their surroundings. Therefore, a contribution that maximizes scene knowledge through smart vehicle positioning is evaluated. A post-processing method for stochastic trajectory validation supports the search for longer-term trajectories which take ego-motion uncertainty into account. About the Author Steffen Heinrich has a strong background in robotics and artificial intelligence. Since 2009 he has been developing algorithms and software components for self-driving systems in research facilities and for automakers in Germany and the US.

Download or read book Frontiers in Guided Wave Optics and Optoelectronics written by Bishnu Pal and published by BoD – Books on Demand. This book was released on 2010-02-01 with total page 694 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the editor, I feel extremely happy to present to the readers such a rich collection of chapters authored/co-authored by a large number of experts from around the world covering the broad field of guided wave optics and optoelectronics. Most of the chapters are state-of-the-art on respective topics or areas that are emerging. Several authors narrated technological challenges in a lucid manner, which was possible because of individual expertise of the authors in their own subject specialties. I have no doubt that this book will be useful to graduate students, teachers, researchers, and practicing engineers and technologists and that they would love to have it on their book shelves for ready reference at any time.