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Shared Situational ...
Shared Situational Awareness with V2X Communication and Set-membership Estimation
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- Narri, Vandana (författare)
- KTH,Reglerteknik,Research and Development, Scania CV AB, Södertälje, Sweden, 151 87
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- Alanwar, Amr (författare)
- School of Computation, Information and Technology, Technical University of Munich, Heilbronn, Germany; School of Computer Science and Engineering, Constructor University, Bremen, Germany
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- Mårtensson, Jonas, 1976- (författare)
- KTH,Reglerteknik
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- Norén, Christoffer (författare)
- Research and Development, Scania CV AB, Södertälje, Sweden, 151 87
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- Johansson, Karl H., 1967- (författare)
- KTH,Reglerteknik
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2023
- 2023
- Engelska.
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Ingår i: 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 3335-3342
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)