Navigation, Guidance, Control, and Dynamics Commons^™

Issues Building An Autonomous Vehicle, Paul King

CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference

No abstract provided.

Automotive Sensor Fusion Systems For Traffic Aware Adaptive Cruise Control, Jonah T. Gandy

Theses and Dissertations

The autonomous driving (AD) industry is advancing at a rapid pace. New sensing technology for tracking vehicles, controlling vehicle behavior, and communicating with infrastructure are being added to commercial vehicles. These new automotive technologies reduce on road fatalities, improve ride quality, and improve vehicle fuel economy. This research explores two types of automotive sensor fusion systems: a novel radar/camera sensor fusion system using a long shortterm memory (LSTM) neural network (NN) to perform data fusion improving tracking capabilities in a simulated environment and a traditional radar/camera sensor fusion system that is deployed in Mississippi State’s entry in the EcoCAR Mobility …

Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, Fangjian Li

All Dissertations

By virtue of vehicular connectivity and automation, the vehicle becomes increasingly intelligent and self-driving capable. However, no matter what automation level the vehicle can achieve, humans will still be in the loop despite their roles. First, considering the manual driving car as a disturbance to the connected and autonomous vehicles (CAVs), a novel string stability is proposed for mixed traffic platoons consisting of both autonomous and manual driving cars to guarantee acceptable motion fluctuation and platoon safety. Furthermore, humans are naturally considered as the rider in the passenger vehicle. A human-centered cooperative adaptive cruise control (CACC) is designed to improve …

Advancements Of Autonomous Applications, Jessica Massey, Jeremy Evert

Student Research

This material is based upon work supported by the National Aeronautics and Space Administration under Grant Agreement No. 80NSSC20M0114 issued through Oklahoma Space Grant Consortium. This research is in support of the Fire Dawgs competition team for this year’s SpeedFest competition at Oklahoma State University. This NASA OK Space Grant Consortium funded competition team will compete in the Charlie Class, where an autonomous vehicle will navigate a course and put out a fire.

Robots and self-driving vehicles are useful, especially for hazardous jobs, such as firefighting. The use of high-tech sensing technology is a small part of how self-driving vehicles …

A Brief Literature Review For Machine Learning In Autonomous Robotic Navigation, Jake Biddy, Jeremy Evert

Student Research

Machine learning is becoming very popular in many technological aspects worldwide, including robotic applications. One of the unique aspects of using machine learning in robotics is that it no longer requires the user to program every situation. The robotic application will be able to learn and adapt from its mistakes. In most situations, robotics using machine learning is designed to fulfill a task better than a human could, and with the machine learning aspect, it can function at the highest level of efficiency and quality. However, creating a machine learning program requires extensive coding and programming knowledge that can be …

Efficiency Of Functioning Of Intersections With High-Intensity Traffic And Pedestrian Flows, Aziz Ernazarov

Technical science and innovation

The article studies the interaction of traffic and pedestrian flows with high intensity at regulated intersections to improve the capacity of such intersections. To study the parameters of traffic flows, in particular, the length of traffic jams, a traffic flow model was used. To study the parameters of traffic flows, in particular, the length of traffic jams, a traffic flow model was used, which includes a psychophysiological model of following a vehicle that moves in front, for the longitudinal movement of vehicles and a model that is based on the rules of the road, for turning traffic. The research methodology …

Distributed Control And Learning Of Connected And Autonomous Vehicles Approaching And Departing Signalized Intersections, Joshua Onyeka Ogbebor

LSU Master's Theses

This thesis outlines methods for achieving energy-optimal control policies for autonomous vehicles approaching and departing a signalized traffic intersection. Connected and autonomous vehicle technology has gained wide interest from both research institutions and government agencies because it offers immense promise in advancing efficient energy usage and abating hazards that beset the current transportation system. Energy minimization is itself crucial in reducing the greenhouse emissions from fossil-fuel-powered vehicles and extending the battery life of electric vehicles which are presently the major alternative to fossil-fuel-powered vehicles. Two major forms of fuel minimization are studied. First, the eco-driving problem is solved for a …

Baja Sae Semi-Active Suspension, Philip Pang, Stassa Cappos, Harrison Hirsch, John Deboer

Mechanical Engineering

This Final Design Review (FDR) Report outlines the senior design project of the Baja SAE Semi-Active Suspension group, which includes mechanical and electrical engineering students at California Polytechnic State University San Luis Obispo. This document compiles the Baja SAE Semi-Active Suspension senior project team’s research and development of a semi-active suspension system for the Cal Poly Racing Baja SAE racecar. The goal is to design a system that adjusts the damping constant of the racecar’s spring-damper suspension while the vehicle is being driven in order to improve vehicle dynamics and driver comfort. None of the semi-active dampers that exist on …

Ground Vehicle Navigation With Depth Camera And Tracking Camera, Hongseok Kim

Theses and Dissertations

The aim of this research is to provide autonomous navigation of a 4 wheel vehicle using commercial, off-the-shelf depth and tracking cameras. Some sensitive operations need accuracy within a few inches of navigation ability for indoor or outdoor scenarios where GPS signals are not available. Combination of the Visual Odometry (VO), Distance-Depth (D-D), and Object Detection data from the cameras can be used for accurate navigation and object avoidance. The Intel RealSense D435i, a depth camera, generates depth measurements and the relative position vector of an object. The Intel RealSense T265, a tracking camera, generates its own coordinate system and …

Deeppose: Detecting Gps Spoofing Attack Via Deep Recurrent Neural Network, Peng Jiang, Hongyi Wu, Chunsheng Xin

Electrical & Computer Engineering Faculty Publications

The Global Positioning System (GPS) has become a foundation for most location-based services and navigation systems, such as autonomous vehicles, drones, ships, and wearable devices. However, it is a challenge to verify if the reported geographic locations are valid due to various GPS spoofing tools. Pervasive tools, such as Fake GPS, Lockito, and software-defined radio, enable ordinary users to hijack and report fake GPS coordinates and cheat the monitoring server without being detected. Furthermore, it is also a challenge to get accurate sensor readings on mobile devices because of the high noise level introduced by commercial motion sensors. To this …

Drivers’ Response To Scenarios When Driving Connected And Automated Vehicles Compared To Vehicles With And Without Driver Assist Technology, Srinivas S. Pulugurtha, Raghuveer Gouribhatla

Mineta Transportation Institute Publications

Traffic related crashes cause more than 38,000 fatalities every year in the United States. They are the leading cause of death among drivers up to 54 years in age and incur $871 million in losses each year. Driver errors contribute to about 94% of these crashes. In response, automotive companies have been developing vehicles with advanced driver assistance systems (ADAS) that aid in various driving tasks. These features are aimed at enhancing safety by either warning drivers of a potential hazard or picking up certain driving maneuvers like maintaining the lane. These features are already part of vehicles with Driver …

Engineering Countermeasures For Left Turns At Signalized Intersections: A Review, Siby Samuel, Amandeep Singh, Yusuke Yamani

Psychology Faculty Publications

Left turn crashes can impact the safety of the drivers due to the speed and angle at which they occur. Left turns are specifically reported to affect older drivers more than the other types of crashes. This paper provides a review of the existing engineering countermeasures that have been evaluated to improve driver safety at left turns. Twenty- eight studies on left turn signal displays (protected left turns, flashing yellow arrow, and digital countdown timers), intersection geometry (offset left turn lanes, diverging diamond interchange, roundabouts, exit lanes for left turn, left turn bay extension, and contraflow left turn lanes), and …

Decentralized Cooperative Localization For Multi-Robot Systems In Challenging Environments, Eduardo Gutierrez

Graduate Theses, Dissertations, and Problem Reports

Multi-robot systems provide more adaptability and robustness than conventional single-robot systems. This is because they have the ability to achieve partial completion of a task in the presence of failures due to the intrinsic inclusion of non-single-point failure. In multi-robot systems, cooperative localization refers to the use of relative measurements to improve the group’s overall localization performance. While centralized architectures in the system may result in unfeasible cases due to the high cost of computation and communication, decentralized methods distribute the computation among the robots in the group, enhancing the performance and making the system more efficient. Achieving a reliable …

Human Powered Vehicle Team Challenge, Sydney Nedlik, Spencer Brodie, Maria Griffin, William Schell, Ryan Serraglio

Williams Honors College, Honors Research Projects

Design and build a Human Powered Vehicle in a team of five. Compete at the ASME HPVC competition in March of 2022. Re-establish the Human Powered Vehicle Team at the University of Akron.

Integration Of Blockchain Technology Into Automobiles To Prevent And Study The Causes Of Accidents, John Kim

Electronic Theses, Projects, and Dissertations

Automobile collisions occur daily. We now live in an information-driven world, one where technology is quickly evolving. Blockchain technology can change the automotive industry, the safety of the motoring public and its surrounding environment by incorporating this vast array of information. It can place safety and efficiency at the forefront to pedestrians, public establishments, and provide public agencies with pertinent information securely and efficiently. Other industries where Blockchain technology has been effective in are as follows: supply chain management, logistics, and banking. This paper reviews some statistical information regarding automobile collisions, Blockchain technology, Smart Contracts, Smart Cities; assesses the feasibility …

An Overview On Why Electric Cars Are The Future Of Transportation, Saqlain Ali

Electronic Theses, Projects, and Dissertations

The motor vehicle industry has been the leading consumer of fossil fuel worldwide resulting in adverse effects on the environment. This study used secondary sources of information from previous research in scholarly journals, Google scholar as well as eBooks, case studies, science direct, research gate, and google books to investigate. The findings show that some of the major milestones achieved in the electric car development include: the reduction of charging time for effectiveness in use, the introduction of supercapacitors that ensures increased charge storage, and with greater effective electromotive force. Additionally, some governments in developed countries do offer subsidies to …

Assessment Of Conventional And Air-Jet Wheel Deflectors For Drag Reduction Of The Drivaer Model, Sandra K. S. Boetcher, Kaloki L. Nabutola

Publications

Aerodynamic drag is a large resistance force to vehicle motion, particularly at highway speeds. Conventional wheel deflectors were designed to reduce the wheel drag and, consequently, the overall vehicle drag; however, they may actually be detrimental to vehicle aerodynamics in modern designs. In the present study, computational fluid dynamics simulations were conducted on the notchback DrivAer model—a simplified, yet realistic, open-source vehicle model that incorporates features of a modern passenger vehicle. Conventional and air-jet wheel deflectors upstream of the front wheels were introduced to assess the effect of underbody-flow deflection on the vehicle drag. Conventional wheel-deflector designs with varying heights …

Research On Collision Avoidance And Safety Measures Of Drilling Platform Towing Group, Junpo Liu

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

In The Context Of Unmanned Vessels : Obstacles To The Application Of Colregs And Suggestions For Its Amendments, Baochuan Sun

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

Research On The Methods Of Ship's Autonomous Collision Avoidance In Complex Environment, Hongguang Lyu

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.