Download or read book Predicting Trajectory Paths For Collision Avoidance Systems written by Cesar Barrios and published by . This book was released on 2015 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work was motivated by the idea of developing a more encompassing collision avoidance system that supported vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications. Current systems are mostly based on line of sight sensors that are used to prevent a collision, but these systems would prevent even more accidents if they could detect possible collisions before both vehicles were in line of sight. For this research we concentrated mostly on the aspect of improving the prediction of a vehicle's future trajectory, particularly on non-straight paths. Having an accurate prediction of where the vehicle is heading is crucial for the system to reliably determine possible path intersections of more than one vehicle at the same time. We first evaluated the benefits of merging Global Positioning System (GPS) data with the Geographical Information System (GIS) data to correct improbable predicted positions. We then created a new algorithm called the Dead Reckoning with Dynamic Errors (DRWDE) sensor fusion, which can predict future positions at the rate of its fastest sensor, while improving the handling of accumulated error while some of the sensors are offline for a given period of time. The last part of out research consisted in the evaluation of the use of smartphones' built-in sensors to predict a vehicle's trajectory, as a possible intermediate solution for a vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications, until all vehicles have all the necessary sensors and communication infrastructure to fully populate this new system. For the first part of our research, the actual experimental results validated our proposed system, which reduced the position prediction errors during curves to around half of what it would be without the use of GIS data for prediction corrections. The next improvement we worked on was the ability to handle change in noise, depending on unavailable sensor measurements, permitting a flexibility to use any type of sensor and still have the system run at the fastest frequency available. Compared to a more common KF implementation that run at the rate of its slowest sensor (1Hz in our setup), our experimental results showed that our DRWDE (running at 10Hz) yielded more accurate predictions (25-50% improvement) during abrupt changes in the heading of the vehicle. The last part of our research showed that, comparing to results obtained with the vehicle-mounted sensors, some smartphones yield similar prediction errors and can be used to predict a future position.

Download or read book Predicting Vehicle Trajectory written by Cesar Barrios and published by CRC Press. This book was released on 2017-03-03 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book concentrates on improving the prediction of a vehicle’s future trajectory, particularly on non-straight paths. Having an accurate prediction of where a vehicle is heading is crucial for the system to reliably determine possible path intersections of more than one vehicle at the same time. The US DOT will be mandating that all vehicle manufacturers begin implementing V2V and V2I systems, so very soon collision avoidance systems will no longer rely on line of sight sensors, but instead will be able to take into account another vehicle’s spatial movements to determine if the future trajectories of the vehicles will intersect at the same time. Furthermore, the book introduces the reader to some improvements when predicting the future trajectory of a vehicle and presents a novel temporary solution on how to speed up the implementation of such V2V collision avoidance systems. Additionally, it evaluates whether smartphones can be used for trajectory predictions, in an attempt to populate a V2V collision avoidance system faster than a vehicle manufacturer can.

Download or read book Path Planning and Tracking for Vehicle Collision Avoidance in Lateral and Longitudinal Motion Directions written by Jie Ji and published by Springer Nature. This book was released on 2022-06-01 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, the control of Connected and Automated Vehicles (CAVs) has attracted strong attention for various automotive applications. One of the important features demanded of CAVs is collision avoidance, whether it is a stationary or a moving obstacle. Due to complex traffic conditions and various vehicle dynamics, the collision avoidance system should ensure that the vehicle can avoid collision with other vehicles or obstacles in longitudinal and lateral directions simultaneously. The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via Forward Collision Warning (FCW), Brake Assist System (BAS), and Autonomous Emergency Braking (AEB), which has been commercially applied in many new vehicles launched by automobile enterprises. But in lateral motion direction, it is necessary to determine a flexible collision avoidance path in real time in case of detecting any obstacle. Then, a path-tracking algorithm is designed to assure that the vehicle will follow the predetermined path precisely, while guaranteeing certain comfort and vehicle stability over a wide range of velocities. In recent years, the rapid development of sensor, control, and communication technology has brought both possibilities and challenges to the improvement of vehicle collision avoidance capability, so collision avoidance system still needs to be further studied based on the emerging technologies. In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles.

Download or read book An Analysis of the Avoidance of Collision Between Aircraft on Curvilinear Flight Trajectories written by Paul Arthur Crafton and published by . This book was released on 1959 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Predicting Vehicle Trajectory written by Cesar Barrios and published by CRC Press. This book was released on 2017-03-03 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book concentrates on improving the prediction of a vehicle’s future trajectory, particularly on non-straight paths. Having an accurate prediction of where a vehicle is heading is crucial for the system to reliably determine possible path intersections of more than one vehicle at the same time. The US DOT will be mandating that all vehicle manufacturers begin implementing V2V and V2I systems, so very soon collision avoidance systems will no longer rely on line of sight sensors, but instead will be able to take into account another vehicle’s spatial movements to determine if the future trajectories of the vehicles will intersect at the same time. Furthermore, the book introduces the reader to some improvements when predicting the future trajectory of a vehicle and presents a novel temporary solution on how to speed up the implementation of such V2V collision avoidance systems. Additionally, it evaluates whether smartphones can be used for trajectory predictions, in an attempt to populate a V2V collision avoidance system faster than a vehicle manufacturer can.

Download or read book Final Report written by and published by . This book was released on 2000 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Multi UAV Planning and Task Allocation written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2020-03-27 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot systems are a major research topic in robotics. Designing, testing, and deploying aerial robots in the real world is a possibility due to recent technological advances. This book explores different aspects of cooperation in multiagent systems. It covers the team approach as well as deterministic decision-making. It also presents distributed receding horizon control, as well as conflict resolution, artificial potentials, and symbolic planning. The book also covers association with limited communications, as well as genetic algorithms and game theory reasoning. Multiagent decision-making and algorithms for optimal planning are also covered along with case studies. Key features: Provides a comprehensive introduction to multi-robot systems planning and task allocation Explores multi-robot aerial planning; flight planning; orienteering and coverage; and deployment, patrolling, and foraging Includes real-world case studies Treats different aspects of cooperation in multiagent systems Both scientists and practitioners in the field of robotics will find this text valuable.

Download or read book Path Planning and Tracking for Vehicle Collision Avoidance in Lateral and Longitudinal Motion Directions written by Jie Ji and published by Morgan & Claypool Publishers. This book was released on 2020-10-09 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, the control of Connected and Automated Vehicles (CAVs) has attracted strong attention for various automotive applications. One of the important features demanded of CAVs is collision avoidance, whether it is a stationary or a moving obstacle. Due to complex traffic conditions and various vehicle dynamics, the collision avoidance system should ensure that the vehicle can avoid collision with other vehicles or obstacles in longitudinal and lateral directions simultaneously. The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via Forward Collision Warning (FCW), Brake Assist System (BAS), and Autonomous Emergency Braking (AEB), which has been commercially applied in many new vehicles launched by automobile enterprises. But in lateral motion direction, it is necessary to determine a flexible collision avoidance path in real time in case of detecting any obstacle. Then, a path-tracking algorithm is designed to assure that the vehicle will follow the predetermined path precisely, while guaranteeing certain comfort and vehicle stability over a wide range of velocities. In recent years, the rapid development of sensor, control, and communication technology has brought both possibilities and challenges to the improvement of vehicle collision avoidance capability, so collision avoidance system still needs to be further studied based on the emerging technologies. In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles.

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 2021-12-29 with total page 260 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 Cognitive Systems and Signal Processing written by Fuchun Sun and published by Springer. This book was released on 2019-04-26 with total page 534 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set (CCIS 1005 and CCIS 1006) constitutes the refereed proceedings of the 4th International Conference on Cognitive Systems and Signal Processing, ICCSIP2018, held in Beijing, China, in November and December 2018. The 96 revised full papers presented were carefully reviewed and selected from 169 submissions. The papers are organized in topical sections on vision and image; algorithms; robotics; human-computer interaction; deep learning; information processing and automatic driving.

Download or read book Evolutionary Computation with Intelligent Systems written by R.S. Chauhan and published by CRC Press. This book was released on 2022-03-28 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on cutting-edge innovations and core theories, principles, and algorithms applicable to a wide area. Real-life applications, case studies, and examples are included along with emerging trends, design, and optimized solutions pivoting around the needs of Society 5.0. Evolutionary Computation with Intelligent Systems: A Multidisciplinary Approach to Society 5.0 provides a holistic view of evolutionary computation techniques including principles, procedures, and future applications with real-life examples. The book comprehensively explains evolutionary computation, design, principles, development trends, and optimization and describes how it can transform the operating context of the organization. It exemplifies the potential of evolutionary computation for the next generation and the role of cloud computing in shaping Society 5.0. It also provides insight into various platforms, paradigms, techniques, and tools used in diverse fields. This book appeals to a variety of readers such as academicians, researchers, research scholars, and postgraduates.

Download or read book Design and Analysis of Modern Tracking Systems written by Samuel S. Blackman and published by Artech House Publishers. This book was released on 1999 with total page 1306 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here's a thorough overview of the state-of-the-art in design and implementation of advanced tracking for single and multiple sensor systems. This practical resource provides modern system designers and analysts with in-depth evaluations of sensor management, kinematic and attribute data processing, data association, situation assessment, and modern tracking and data fusion methods as applied in both military and non-military arenas.

Download or read book Advanced Driver Intention Inference written by Yang Xing and published by Elsevier. This book was released on 2020-03-15 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Driver Intention Inference: Theory and Design describes one of the most important function for future ADAS, namely, the driver intention inference. The book contains the state-of-art knowledge on the construction of driver intention inference system, providing a better understanding on how the human driver intention mechanism will contribute to a more naturalistic on-board decision system for automated vehicles. Features examples of using machine learning/deep learning to build industry products Depicts future trends for driver behavior detection and driver intention inference Discuss traffic context perception techniques that predict driver intentions such as Lidar and GPS

Download or read book Probabilistic Parametric Curves for Sequence Modeling written by Hug, Ronny and published by KIT Scientific Publishing. This book was released on 2022-07-12 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work proposes a probabilistic extension to Bézier curves as a basis for effectively modeling stochastic processes with a bounded index set. The proposed stochastic process model is based on Mixture Density Networks and Bézier curves with Gaussian random variables as control points. A key advantage of this model is given by the ability to generate multi-mode predictions in a single inference step, thus avoiding the need for Monte Carlo simulation.

Download or read book Computational Logistics written by Raffaele Cerulli and published by Springer. This book was released on 2018-09-19 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 9th International Conference on Computational Logistics, ICCL 2018, held in Vietri sul Mare, Italy, in October 2018. The 32 full papers presented were carefully reviewed and selected from 71 submissions. They are organized in topical sections as follows: maritime shipping and routing, container handling and container terminals, vehicle routing and multi-modal transportation, network design and scheduling, logistics oriented combinatorial optimization.

Download or read book Real time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain Changing Intentions written by Sarah Kathryn Ferguson and published by . This book was released on 2014 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt: To plan safe trajectories in urban environments, autonomous vehicles must be able to interact safely and intelligently with other dynamic agents. Due to the inherent structure of these environments, drivers and pedestrians tend to exhibit a common set of motion patterns. The challenges are therefore to learn these motion patterns such that they can be used to predict future trajectories, and to plan safe paths that incorporate these predictions. This thesis considers the modeling and robust avoidance of pedestrians in real time. Pedestrians are particularly difficult to model, as their motion patterns are often uncertain and/or unknown a priori. The modeling approach incorporates uncertainty in both intent (i.e., where is the pedestrian going?) and trajectory associated with each intent (i.e., how will he/she get to this location?), both of which are necessary for robust collision avoidance. A novel changepoint detection and clustering algorithm (Changepoint-DPGP) is presented to enable quick detection of changes in pedestrian behavior and online learning of new behaviors not previously observed in prior training data. The resulting long-term movement predictions demonstrate improved accuracy in terms of both intent and trajectory prediction, relative to existing methods which consider only intent or trajectory. An additional contribution of this thesis is the integration of these predictions with a chance-constrained motion planner, such that trajectories which are probabilistically safe to pedestrian motions can be identified in real-time. Hardware components and relevant control and data acquisition algorithms for an autonomous test vehicle are implemented and developed. Experiments demonstrate that an autonomous mobile robot utilizing this framework can accurately predict pedestrian motion patterns from onboard sensor/perception data and safely navigate within a dynamic environment

Download or read book Design of Unmanned Aerial Systems written by Mohammad H. Sadraey and published by John Wiley & Sons. This book was released on 2020-02-20 with total page 664 pages. Available in PDF, EPUB and Kindle. Book excerpt: Provides a comprehensive introduction to the design and analysis of unmanned aircraft systems with a systems perspective Written for students and engineers who are new to the field of unmanned aerial vehicle design, this book teaches the many UAV design techniques being used today and demonstrates how to apply aeronautical science concepts to their design. Design of Unmanned Aerial Systems covers the design of UAVs in three sections—vehicle design, autopilot design, and ground systems design—in a way that allows readers to fully comprehend the science behind the subject so that they can then demonstrate creativity in the application of these concepts on their own. It teaches students and engineers all about: UAV classifications, design groups, design requirements, mission planning, conceptual design, detail design, and design procedures. It provides them with in-depth knowledge of ground stations, power systems, propulsion systems, automatic flight control systems, guidance systems, navigation systems, and launch and recovery systems. Students will also learn about payloads, manufacturing considerations, design challenges, flight software, microcontroller, and design examples. In addition, the book places major emphasis on the automatic flight control systems and autopilots. Provides design steps and procedures for each major component Presents several fully solved, step-by-step examples at component level Includes numerous UAV figures/images to emphasize the application of the concepts Describes real stories that stress the significance of safety in UAV design Offers various UAV configurations, geometries, and weight data to demonstrate the real-world applications and examples Covers a variety of design techniques/processes such that the designer has freedom and flexibility to satisfy the design requirements in several ways Features many end-of-chapter problems for readers to practice Design of Unmanned Aerial Systems is an excellent text for courses in the design of unmanned aerial vehicles at both the upper division undergraduate and beginning graduate levels.