Search Results

In this paper, an inertial sensing based scheme without visual detection devices for lane curvature estimation is proposed. Our purpose is to obtain the lane curvature continuously when the visual signals are failed to use abruptly. Our proposed algorithm of lane curvature estimation is separated into three steps. The first step is to calculate the lane curvature through Ackermann steering principle after obtaining the speed and orientation of vehicle. In second step, the lane curvature function, which is formulated into quadratic form, is taken into account. After augmenting the vehicle position and lane curvature into a new augmented system, the state of lane curvature can be solved via some iterative mathematical technique. In this paper, an extended Kalman filter (EKF) method is employed to calculate the estimated lane curvature. However, both of the measured and estimated lane curvatures do not match the true curvature exactly.

Inertia navigation system is capable to backup GPS unavailability. An autonomous system integrated different sensors to offer robots or remotely operated systems a reliable navigation means. This paper addresses an autonomous design method to accomplish continuously position positioning based on GPS positioning, gear-box speed, odometry, IMU and DSRC in deck reckoning. Besides, the availability of autonomous function is verified and applied using vehicles in car following or cooperative driving. This paper also presents an inter-vehicle geocasting format to accomplish multihop and car-following in cooperative driving and data exchanged based on GPS/IMU positioning and DSRC. The car following provides warning or situation awareness to drivers based on broadcast messaging the motions of neighboring vehicles obtained by one-way communication from other vehicles.