| 1. |
|
|
| 2. |
- Leong, Miu Yoong, et al.
(författare)
-
Dimensioning BCH Codes for Coherent DQPSK Systems With Laser Phase Noise and Cycle Slips
- 2014
-
Ingår i: Journal of Lightwave Technology. - 0733-8724 .- 1558-2213. ; 32:21, s. 3446-3450
-
Tidskriftsartikel (refereegranskat)abstract
- Forward error correction (FEC) plays a vital role in coherent optical systems employing multi-level modulation. However, much of coding theory assumes that additive white Gaussian noise (AWGN) is dominant, whereas coherent optical systems have significant phase noise (PN) in addition to AWGN. This changes the error statistics and impacts FEC performance. In this paper, we propose a novel semianalytical method for dimensioning binary Bose-Chaudhuri-Hocquenghem (BCH) codes for systems with PN. Our method involves extracting statistics from pre-FEC bit error rate (BER) simulations. We use these statistics to parameterize a bivariate binomial model that describes the distribution of bit errors. In this way, we relate pre-FEC statistics to post-FEC BER and BCHcodes. Our method is applicable to pre-FEC BER around 10(-3) and any post-FEC BER. Using numerical simulations, we evaluate the accuracy of our approach for a target post-FEC BER of 10(-5). Codes dimensioned with our bivariate binomial model meet the target within 0.2-dB signal-to-noise ratio.
|
|
| 3. |
- Ahlström, Christer, et al.
(författare)
-
A gaze-based driver distraction warning system and its effect on visual behaviour
- 2013
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - : Institute of Electrical and Electronics Engineers (IEEE). - 1524-9050 .- 1558-0016. ; 14:2, s. 965-973
-
Tidskriftsartikel (refereegranskat)abstract
- Driver distraction is a contributing factor to many crashes; therefore, a real-time distraction warning system should have the potential to mitigate or circumvent many of these crashes. The objective of this paper is to investigate the usefulness of a real-time distraction detection algorithm called AttenD. The evaluation is based on data from an extended field study comprising seven drivers who drove on an average of 4351 ± 2181 km in a naturalistic setting.Visual behavior was investigated both on a global scale and on a local scale in the surroundings of each warning. An increase in the percentage of glances at the rear-view mirror and a decrease in the amount of glances at the center console were found. The results also show that visual time sharing decreased in duration from 9.94 to 9.20 s due to the warnings, that the time from fully attentive to warning decreased from 3.20 to 3.03 s, and that the time from warning to full attentiveness decreased from 6.02 to 5.46 s. The limited number of participants does not allow any generalizable conclusions, but a trend toward improved visual behavior could be observed. This is a promising start for further improvements of the algorithm and the warning strategy.
|
|
| 4. |
- Ahlström, Christer, et al.
(författare)
-
Processing of Eye/Head-Tracking Data in Large-Scale Naturalistic Driving Data Sets
- 2012
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; vol.13:no.2, s. pp.553-564
-
Tidskriftsartikel (refereegranskat)abstract
- Driver distraction and driver inattention are frequently recognized as leading causes of crashes and incidents. Despite this fact, there are few methods available for the automatic detection of driver distraction. Eye tracking has come forward as the most promising detection technology, but the technique suffers from quality issues when used in the field over an extended period of time. Eye-tracking data acquired in the field clearly differs from what is acquired in a laboratory setting or a driving simulator, and algorithms that have been developed in these settings are often unable to operate on noisy field data. The aim of this paper is to develop algorithms for quality handling and signal enhancement of naturalistic eye- and head-tracking data within the setting of visual driver distraction. In particular, practical issues are highlighted. Developed algorithms are evaluated on large-scale field operational test data acquired in the Sweden-Michigan Field Operational Test (SeMiFOT) project, including data from 44 unique drivers and more than 10 000 trips from 13 eye-tracker-equipped vehicles. Results indicate that, by applying advanced data-processing methods, sensitivity and specificity of eyes-off-road glance detection can be increased by about 10%. In conclusion, postenhancement and quality handling is critical when analyzing large databases with naturalistic eye-tracking data. The presented algorithms provide the first holistic approach to accomplish this task.
|
|
| 5. |
- Ali, Mohammad, 1982, et al.
(författare)
-
Predictive Prevention of Loss of Vehicle Control for Roadway Departure Avoidance
- 2013
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 14:1, s. 56-68
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we investigate predictive approaches to the problem of roadway departure prevention via automated steering and braking. We assume a sensing infrastructure detecting road geometry and consider a two-layer accident avoidance framework consisting of a threat assessment and an intervention layer. A novel active safety function for prevention of loss of vehicle control is proposed and implemented using the considered accident avoidance framework. Simulation and experimental results are presented, showing that the proposed approach effectively exploits road preview information to prevent the vehicle from operating in regions of the state space where standard electronic stability control systems are normally activated.
|
|
| 6. |
|
|
| 7. |
- Belyaev, Evgeny, et al.
(författare)
-
The Use of Automotive Radars in Video-Based Overtaking Assistance Applications
- 2013
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - Piscataway, NJ : IEEE Press. - 1524-9050 .- 1558-0016. ; 14:3, s. 1035-1042
-
Tidskriftsartikel (refereegranskat)abstract
- Overtaking on rural roads may cause severe accidents when oncoming traffic is detected by a driver too late, or its speed is underestimated. Recently proposed cooperative overtaking assistance systems are based on real-time video transmission, where a video stream captured with a camera installed at the windshield of a vehicle is compressed, broadcast through the wireless channel, and displayed to the drivers of vehicles driving behind. In such a system, it is of ultimate importance to deliver video information about the opposite lane with low end-to-end latency and good visual quality. In this paper, we propose reallocating the wireless channel resources in favor of the part of the captured video frame containing the image of the oncoming vehicle. To achieve this goal, we apply automotive radar for oncoming vehicle detection, and we use the image of this vehicle as a region-of-interest (ROI) for the video rate control. We present the theoretical framework, which describes the basics of such an approach and can serve as a useful guideline for the future practical implementation of the overtaking assistance systems. The benefits of our proposal are demonstrated in relation to the practical scenario of H.264/Advance Video Coding (AVC), IEEE 802.11p/Wireless Access for Vehicular Environments (WAVE) intervehicle communication standards, and currently used automotive radars.
|
|
| 8. |
- Borkar, Amol, et al.
(författare)
-
A Novel Lane Detection System With Efficient Ground Truth Generation
- 2012
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 13:1, s. 365-374
-
Tidskriftsartikel (refereegranskat)abstract
- A new night-time lane detection system and its accompanying framework are presented in this paper. The accompanying framework consists of an automated ground truth process and systematic storage of captured videos that will be used for training and testing. The proposed Advanced Lane Detector 2.0 (ALD 2.0) is an improvement over the ALD 1.0 or Layered Approach with integration of pixel remapping, outlier removal, and prediction with tracking. Additionally, a novel procedure to generate the ground truth data for lane marker locations is also proposed. The procedure consists of an original process called time slicing, which provides the user with unique visualization of the captured video and enables quick generation of ground truth information. Finally, the setup and implementation of a database hosting lane detection videos and standardized data sets for testing are also described. The ALD 2.0 is evaluated by means of the user-created annotations accompanying the videos. Finally, the planned improvements and remaining work are addressed.
|
|
| 9. |
- Brännström, Mattias, 1980, et al.
(författare)
-
A Probabilistic Framework for Decision-Making in Collision Avoidance Systems
- 2013
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 14:2, s. 637-648
-
Tidskriftsartikel (refereegranskat)abstract
- This paper is concerned with the problem of decision-making in systems that assist drivers in avoiding collisions. An important aspect of these systems is not only assisting the driver when needed but also not disturbing the driver with unnecessary interventions. Aimed at improving both of these properties, a probabilistic framework is presented for jointly evaluating the driver acceptance of an intervention and the necessity thereof to automatically avoid a collision. The intervention acceptance is modeled as high if it estimated that the driver judges the situation as critical, based on the driver's observations and predictions of the traffic situation. One advantage with the proposed framework is that interventions can be initiated at an earlier stage when the estimated driver acceptance is high. Using a simplified driver model, the framework is applied to a few different types of collision scenarios. The results show that the framework has appealing properties, both with respect to increasing the system benefit and to decreasing the risk of unnecessary interventions.
|
|
| 10. |
- Brännström, Mattias, 1980, et al.
(författare)
-
Model-Based Threat Assessment for Avoiding Arbitrary Vehicle Collisions
- 2010
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 11:3, s. 658-669
-
Tidskriftsartikel (refereegranskat)abstract
- This paper presents a model-based algorithm that estimates how the driver of a vehicle can either steer, brake, or accelerate to avoid colliding with an arbitrary object. In this algorithm, the motion of the vehicle is described by a linear bicycle model, and the perimeter of the vehicle is represented by a rectangle. The estimated perimeter of the object is described by a polygon that is allowed to change size, shape, position, and orientation at sampled time instances. Potential evasive maneuvers are modeled, parameterized, and approximated such that an analytical expression can be derived to estimate the set ofmaneuvers that the driver can use to avoid a collision. This set of maneuvers is then assessed to determine if the driver needs immediate assistance to avoid or mitigate an accident. The proposed threat-assessment algorithm is evaluated using authentic data from both real traffic conditions and collision situations on a test track and by using simulations with a detailed vehicle model. The evaluations show that the algorithm outperforms conventional threat-assessment algorithms at rear-end collisions in terms of the timing of autonomous brake activation. This is crucial for increasing the performance of collisionavoidance systems and for decreasing the risk of unnecessary braking. Moreover, the algorithm is computationally efficient and can be used to assist the driver in avoiding or mitigating collisions with all types of road users in all kinds of traffic scenarios.
|
|
| 11. |
- Claes, Rutger, et al.
(författare)
-
A Decentralized Approach for Anticipatory Vehicle Routing Using Delegate Multiagent Systems
- 2011
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 12:2, s. 364-373
-
Tidskriftsartikel (refereegranskat)abstract
- Advanced vehicle guidance systems use real-time traffic information to route traffic and to avoid congestion. Unfortunately, these systems can only react upon the presence of traffic jams and not to prevent the creation of unnecessary congestion. Anticipatory vehicle routing is promising in that respect, because this approach allows directing vehicle routing by accounting for traffic forecast information. This paper presents a decentralized approach for anticipatory vehicle routing that is particularly useful in large-scale dynamic environments. The approach is based on delegate multiagent systems, i.e., an environment-centric coordination mechanism that is, in part, inspired by ant behavior. Antlike agents explore the environment on behalf of vehicles and detect a congestion forecast, allowing vehicles to reroute. The approach is explained in depth and is evaluated by comparison with three alternative routing strategies. The experiments are done in simulation of a real-world traffic environment. The experiments indicate a considerable performance gain compared with the most advanced strategy under test, i.e., a traffic-message-channel-based routing strategy.
|
|
| 12. |
- Dozza, Marco, 1978, et al.
(författare)
-
Understanding Bicycle Dynamics and Cyclist Behavior from Naturalistic Field Data
- 2014
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 15:1, s. 376-384
-
Tidskriftsartikel (refereegranskat)abstract
- As technology advances, motorized vehicles employ newer, more intelligent systems to improve drivers’ safety and mobility. The evolution of these systems is supported by increasingly accurate models for driver behavior and vehicle dynamics. Despite the significant role of non-motorized vehicles such as bicycles in traffic accidents, the evolution of in-vehicle intelligent systems has no counterpart for bicycles. Part of the reason is that, to date, models for bicyclist behavior are absent, and models for bicycle dynamics limited. This paper presents a platform for collecting field data from bicycles, and shows how such data can support the development of intelligent systems by offering novel insights into bicycle dynamics and bicyclist behavior.
|
|
| 13. |
- Falcone, Paolo, 1977, et al.
(författare)
-
Predictive Threat Assessment via Reachability Analysis and Set Invariance Theory
- 2011
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 12:4, s. 1352 - 1361
-
Tidskriftsartikel (refereegranskat)abstract
- We propose two model-based threat assessmentmethods for semi-autonomous vehicles, i.e., human-driven vehicles with autonomous driving capabilities. Based on information about the surrounding environment, we introduce a set of constraints on the vehicle states, which are satisfied under “safe” driving conditions. Then, we formulate the threat assessment problem as a constraint satisfaction problem. Vehicle and driver mathematical models are used to predict future constraint violation, indicating the possibility of accident or loss of vehicle control, hence, the need to assist the driver. The two proposed methods differ in the models used to predict vehicle motion within the surrounding environment. We demonstrate the proposed methods in a roadway departureapplication and validate them through experimental data.
|
|
| 14. |
- Garcia, Angel, 1984, et al.
(författare)
-
Bayesian Road Estimation Using Onboard Sensors
- 2014
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; PP:99, s. 1-14
-
Tidskriftsartikel (refereegranskat)abstract
- This paper describes an algorithm for estimating the road ahead of a host vehicle based on the measurements from several onboard sensors: a camera, a radar, wheel speed sensors, and an inertial measurement unit. We propose a novel road model that is able to describe the road ahead with higher accuracy than the usual polynomial model. We also develop a Bayesian fusion system that uses the following information from the surroundings: lane marking measurements obtained by the camera and leading vehicle and stationary object measurements obtained by a radar–camera fusion system. The performance of our fusion algorithm is evaluated in several drive tests. As expected, the more information we use, the better the performance is.
|
|
| 15. |
- Hu, Xiaosong, 1983, et al.
(författare)
-
Comparison of Three Electrochemical Energy Buffers Applied to a Hybrid Bus Powertrain with Simultaneous Optimal Sizing and Energy Management
- 2014
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 15:3, s. 1193-1205
-
Tidskriftsartikel (refereegranskat)abstract
- This paper comparatively examines three different electrochemical energy storage systems (ESSs), i.e., Li-ion battery, supercapacitor, and dual buffer, for a hybrid bus powertrain operated in Gothenburg, Sweden. Existing studies focus on comparing these ESSs in terms of either general attributes (e.g., energy density and power density) or their implications to the fuel economy of hybrid vehicle with a heuristic/non-optimal ESS size and power management strategy. This paper adds four original contributions to the related literature. First, the three ESSs are compared in a framework of simultaneous optimal ESS sizing and energy management, where the ESSs can serve the powertrain in a most cost-effective manner. Second, convex optimization is used to implement the framework, which allows the hybrid powertrain designers/integrators to rapidly and optimally perform integrated ESS selection, sizing, and power management. Third, both hybrid electric vehicle (HEV) and plug-in hybrid electric vehicle (PHEV) scenarios for the powertrain are considered, in order to systematically examine how different the ESS requirements are for HEV and PHEV applications. Finally, a sensitivity analysis is carried out to evaluate how price variations of the on-board energy carriers affect the results and conclusions.
|
|
| 16. |
- Händel, Peter, et al.
(författare)
-
Insurance telematics : Opportunities and challenges with the smartphone solution
- 2014
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 6:4, s. 57-70
-
Tidskriftsartikel (refereegranskat)abstract
- Smartphone-based insurance telematics or usage based insurance is a disruptive technology which relies on insurance premiums that reflect the risk profile of the driver; measured via smartphones with appropriate installed software. A survey of smartphone-based insurance telematics is presented, including definitions; Figure-of-Merits (FoMs), describing the behavior of the driver and the characteristics of the trip; and risk profiling of the driver based on different sets of FoMs. The data quality provided by the smartphone is characterized in terms of Accuracy, Integrity, Availability, and Continuity of Service. The quality of the smartphone data is further compared with the quality of data from traditional in-car mounted devices for insurance telematics, revealing the obstacles that have to be combated for a successful smartphone-based installation, which are the poor integrity and low availability. Simply speaking, the reliability is lacking considering the smartphone measurements. Integrity enhancement of smartphone data is illustrated by both second-by-second lowlevel signal processing to combat outliers and perform integrity monitoring, and by trip-based map-matching for robustification of the recorded trip data. A plurality of FoMs are described, analyzed and categorized, including events and properties like harsh braking, speeding, and location. The categorization of the FoMs in terms of Observability, Stationarity, Driver influence, and Actuarial relevance are tools for robust risk profiling of the driver and the trip. Proper driver feedback is briefly discussed, and rule-of-thumbs for feedback design are included. The work is supported by experimental validation, statistical analysis, and experiences from a recent insurance telematics pilot run in Sweden.
|
|
| 17. |
- Illenberger, Johannes, et al.
(författare)
-
A model of risk-sensitive route-choice behavior and the potential benefit of route guidance
- 2011
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 12:2, s. 384-389
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present a simulation-based investigation of the potential benefit of route-guidance information in the context of risk-sensitive travelers. We set up a simple two-route scenario where travelers are repeatedly faced with risky route-choice decisions. The risk averseness of the travelers is implicitly controlled through a generic utility function. We vary both the travelers' sensitivity toward risk and the equipment fraction with route-guidance devices and show that the benefits of guided travelers increase with their sensitivity toward risk.
|
|
| 18. |
|
|
| 19. |
|
|
| 20. |
- Kianfar, Roozbeh, 1984, et al.
(författare)
-
Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge
- 2012
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 13:3, s. 994-1007
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves.
|
|
| 21. |
- Kircher, Katja, 1973-, et al.
(författare)
-
Tactical driving behaviour with different levels of automation
- 2014
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 15:1, s. 158-167
-
Tidskriftsartikel (refereegranskat)abstract
- This paper investigated how different types of automation affect tactical driving behavior, depending on trust in the system. Previous research indicates that drivers wait for automation to act, delegating the monitoring of traffic situations. This would be especially true for those who have more trust in automation. Behavioral and gaze data from 30 participants driving an advanced simulator were recorded in four driving conditions, namely, manual driving, intentional car following, adaptive cruise control (ACC), and ACC with adaptive steering. Measures of trust in the systems were recorded with a questionnaire.Three fairly common traffic events requiring a driver response were analyzed. Trust in automation was high among the participants, and no associations between trust levels and behavior could be found. Drivers seem to make informed choices on when to let the automation handle a situation and when to switch it off manually or via the vehicle controls. If drivers did not expect the system to be able to handle the situation, they usually resumed control before the automation reached its limits. If the automation was expected to be able to deal with the situation, control was usually not resumed. In addition, situations were dealt with in a tactically different manner with automation than without. Controlling the car with automation systems is thus accepted by drivers as being a different undertaking than driving in manual mode.
|
|
| 22. |
- Larsson, Viktor, 1984, et al.
(författare)
-
Commuter Route Optimized Energy Management of Hybrid Electric Vehicles
- 2014
-
Ingår i: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; 15:3, s. 1145-1154
-
Tidskriftsartikel (refereegranskat)abstract
- Optimal energy management of hybrid electric vehicles requires a priori information regarding future driving conditions; the acquisition and processing of this information is nevertheless often neglected in academic research. This paper introduces a commuter route optimized energy management system, where the bulk of the computations are performed on a server. The idea is to identify commuter routes from historical driving data, using hierarchical agglomerative clustering, and then precomputean optimal solution to the energy management controlproblem with dynamic programming; the obtained solution canthen be transmitted to the vehicle in the form of a lookup table. To investigate the potential of such a system, a simulation study is performed using a detailed vehicle model implemented in the Autonomie simulation environment for MATLAB/Simulink. The simulation results for a plug-in hybrid electric vehicle indicate that the average fuel consumption along the commuter route(s) can be reduced by 4%–9% and battery usage by 10%–15%.
|
|
| 23. |
- Lidström, Kristoffer, 1981-, et al.
(författare)
-
A Modular CACC System Integration Design
- 2012
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - Piscataway : IEEE Press. - 1524-9050 .- 1558-0016. ; 13:3, s. 1050-
-
Tidskriftsartikel (refereegranskat)abstract
- This paper describes the Halmstad University entry in the GrCooperative Driving Challenge, which is a competition in vehicle platooning. Cooperative platooning has the potential to improve traffic flow by mitigating shock wave effects, which otherwise may occur in dense traffic. A longitudinal controller that uses information exchanged via wireless communication with other cooperative vehicles to achieve string-stable platooning is developed. The controller is integrated into a production vehicle, together with a positioning system, communication system, human€“machine interface (HMI). A highly modular system architecture enabled rapid development testing of the various subsystems. In the competition, which took place in May 2011 on a closed-off highway in The Netherlands, the Halmstad University team finished second among nine competing teams._x000D_
|
|
| 24. |
- Lundquist, Christian, et al.
(författare)
-
Tire Radii Estimation Using a Marginalized Particle Filter
- 2014
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - : Institute of Electrical and Electronics Engineers (IEEE). - 1524-9050 .- 1558-0016. ; 15:2, s. 663-672
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, the measurements of individual wheel speeds and the absolute position from a global positioning system are used for high-precision estimation of vehicle tire radii. The radii deviation from its nominal value is modeled as a Gaussian random variable and included as noise components in a simple vehicle motion model. The novelty lies in a Bayesian approach to estimate online both the state vector and the parameters representing the process noise statistics using a marginalized particle filter (MPF). Field tests show that the absolute radius can be estimated with submillimeter accuracy. The approach is tested in accordance with regulation 64 of the United Nations Economic Commission for Europe on a large data set (22 tests, using two vehicles and 12 different tire sets), where tire deflations are successfully detected, with high robustness, i.e., no false alarms. The proposed MPF approach outperforms common Kalman-filter-based methods used for joint state and parameter estimation when compared with respect to accuracy and robustness.
|
|
| 25. |
- Mårtensson, Jonas, 1976-, et al.
(författare)
-
The development of a cooperative heavy-duty vehicle for the GCDC 2011: Team Scoop
- 2012
-
Ingår i: IEEE transactions on intelligent transportation systems (Print). - : IEEE Press. - 1524-9050 .- 1558-0016. ; 13:3, s. 1033-1049
-
Tidskriftsartikel (refereegranskat)abstract
- The first edition of the Grand Cooperative Driving Challenge (GCDC) was held in the Netherlands in May 2011. Nine international teams competed in urban and highway platooning scenarios with prototype vehicles using cooperative adaptive cruise control. Team Scoop, a collaboration between KTH Royal Institute of Technology, Stockholm, Sweden, and Scania CV AB, Sodertalje, Sweden, participated at the GCDC with a Scania R-series tractor unit. This paper describes the development and design of Team Scoop's prototype system for the GCDC. In particular, we present considerations with regard to the system architecture, state estimation and sensor fusion, and the design and implementation of control algorithms, as well as implementation issues with regard to the wireless communication. The purpose of the paper is to give a broad overview of the different components that are needed to develop a cooperative driving system: from architectural design, workflow, and functional requirement descriptions to the specific implementation of algorithms for state estimation and control. The approach is more pragmatic than scientific; it collects a number of existing technologies and gives an implementation-oriented view of a cooperative vehicle. The main conclusion is that it is possible, with a modest effort, to design and implement a system that can function well in cooperation with other vehicles in realistic traffic scenarios.
|
|
