Trajectory Planning For An Autonomous Vehicle In Multi Vehicle Traffic Scenarios
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Trajectory Planning For An Autonomous Vehicle In Multi Vehicle Traffic Scenarios
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Author : Mahdi Morsali
language : en
Publisher: Linköping University Electronic Press
Release Date : 2021-03-25
Trajectory Planning For An Autonomous Vehicle In Multi Vehicle Traffic Scenarios written by Mahdi Morsali and has been published by Linköping University Electronic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-25 with categories.
Tremendous industrial and academic progress and investments have been made in au-tonomous driving, but still many aspects are unknown and require further investigation,development and testing. A key part of an autonomous driving system is an efficient plan-ning algorithm with potential to reduce accidents, or even unpleasant and stressful drivingexperience. A higher degree of automated planning also makes it possible to have a betterenergy management strategy with improved performance through analysis of surroundingenvironment of autonomous vehicles and taking action in a timely manner. This thesis deals with planning of autonomous vehicles in different urban scenarios, road,and vehicle conditions. The main concerns in designing the planning algorithms, are realtime capability, safety and comfort. The planning algorithms developed in this thesis aretested in simulation traffic situations with multiple moving vehicles as obstacles. The re-search conducted in this thesis falls mainly into two parts, the first part investigates decou-pled trajectory planning algorithms with a focus on speed planning, and the second sectionexplores different coupled planning algorithms in spatiotemporal environments where pathand speed are calculated simultaneously. Additionally, a behavioral analysis is carried outto evaluate different tactical maneuvers the autonomous vehicle can have considering theinitial states of the ego and surrounding vehicles. Particularly relevant for heavy duty vehicles, the issues addressed in designing a safe speedplanner in the first part are road conditions such as banking, friction, road curvature andvehicle characteristics. The vehicle constraints on acceleration, jerk, steering, steer ratelimitations and other safety limitations such as rollover are further considerations in speedplanning algorithms. For real time purposes, a minimum working roll model is identified us-ing roll angle and lateral acceleration data collected in a heavy duty truck. In the decoupledplanners, collision avoiding is treated using a search and optimization based planner. In an autonomous vehicle, the structure of the road network is known to the vehicle throughmapping applications. Therefore, this key property can be used in planning algorithms toincrease efficiency. The second part of the thesis, is focused on handling moving obstaclesin a spatiotemporal environment and collision-free planning in complex urban structures.Spatiotemporal planning holds the benefits of exhaustive search and has advantages com-pared to decoupled planning, but the search space in spatiotemporal planning is complex.Support vector machine is used to simplify the search problem to make it more efficient.A SVM classifies the surrounding obstacles into two categories and efficiently calculate anobstacle free region for the ego vehicle. The formulation achieved by solving SVM, con-tains information about the initial point, destination, stationary and moving obstacles.These features, combined with smoothness property of the Gaussian kernel used in SVMformulation is proven to be able to solve complex planning missions in a safe way. Here, three algorithms are developed by taking advantages of SVM formulation, a greedysearch algorithm, an A* lattice based planner and a geometrical based planner. One general property used in all three algorithms is reduced search space through using SVM. In A*lattice based planner, significant improvement in calculation time, is achieved by using theinformation from SVM formulation to calculate a heuristic for planning. Using this heuristic,the planning algorithm treats a simple driving scenario and a complex urban structureequal, as the structure of the road network is included in SVM solution. Inspired byobserving significant improvements in calculation time using SVM heuristic and combiningthe collision information from SVM surfaces and smoothness property, a geometrical planneris proposed that leads to further improvements in calculation time. Realistic driving scenarios such as roundabouts, intersections and takeover maneuvers areused, to test the performance of the proposed algorithms in simulation. Different roadconditions with large banking, low friction and high curvature, and vehicles prone to safetyissues, specially rollover, are evaluated to calculate the speed profile limits. The trajectoriesachieved by the proposed algorithms are compared to profiles calculated by optimal controlsolutions.
Path Planning For Autonomous Vehicle
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Author : Umar Zakir Abdul Hamid
language : en
Publisher: BoD – Books on Demand
Release Date : 2019-10-02
Path Planning For Autonomous Vehicle written by Umar Zakir Abdul Hamid and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-10-02 with Transportation categories.
Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Design Modulation And Control Of Battery Integrated Modular Multilevel Converters For Automotive Applications
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Author : Arvind Balachandran
language : en
Publisher: Linköping University Electronic Press
Release Date : 2025-03-20
Design Modulation And Control Of Battery Integrated Modular Multilevel Converters For Automotive Applications written by Arvind Balachandran and has been published by Linköping University Electronic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-20 with categories.
A critical component of a battery electric vehicle (BEV) is the battery pack, which has many series- and parallel-connected electrochemical cells. The total power, energy delivered, and lifetime of the battery pack are limited by the weakest cell in the pack. Battery-integrated modular multilevel converters (BI-MMC) can overcome this limitation by increasing cell-level control. BI-MMCs have several series-connected DC-to-AC converters with a battery module having a few series- and parallel-connected cells called submodules (SM). The research in this thesis focuses on the design, modulation, and control of BI-MMCs. The efficiency and adaptability of five basic BI-MMC topologies with half-bridge and full-bridge SMs across three main system configurations are presented. Full-bridge topologies offer high efficiency, some even higher than the state-of- the-art SiC two-level inverter. However, adapting them to BEVs requires significant architectural modifications to the BEV’s electrical system. The half-bridge topologies require fewer architectural modifications for adaption into the BEVs. However, they have lower efficiency and require a larger number of SMs, which increases the cost. The efficiency is increased with six-phase system configurations but at the cost of more SMs than three-phase system configurations. Another aspect of adaptability is the DC charging capabilities of BI-MMCs. The maximum DC charging power of the BI-MMCs with the same SM semiconductor losses as during traction is derived, and results show that most BI-MMCs have a maximum DC charging power of about 1MW. Key design parameters that affect the efficiency and cost of BI-MMCs are identified. They are the number of series-connected cells in an SM, SM DC-link capacitor energy, and MOSFET switching frequency. BI-MMCs with five to seven series-connected cells per SM have the highest efficiency, at an average power of 100 kW and considering phase-shifted carrier-based modulation. Selecting the MOSFET switching frequency close to the resonant frequency of the SM DC-link capacitors and the SM battery modules decreases the total efficiency. Increasing or decreasing the MOSFET switching frequency increases the efficiency but affects the loss distribution between the SM DC-link capacitors and the SM battery modules. BI-MMCs with nearest level modulation (NLM) have higher efficiencies than phase-shifted carrier-based modulation and the SiC two-level inverter. However, using NLM with low-frequency sort-and-select inter-SM balancing methods (sNLM) results in an uneven distribution of battery losses among the SMs, which may impact the thermal design. Using NLM with cyclic submodule duty cycle rotation at the fundamental frequency gives higher efficiencies than sNLM and an even distribution of battery losses among the SMs. Reconstruction of converter reference signals with a higher sample frequency at the submodule level can be used to adapt distributed control architecture to BI-MMCs. The advantage is the low communication burden between the central and the SM control units. Furthermore, the accuracy of the SM battery currents (over one fundamental period) is improved, and the output distortion is low.
Proceedings Of 2022 International Conference On Autonomous Unmanned Systems Icaus 2022
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Author : Wenxing Fu
language : en
Publisher: Springer Nature
Release Date : 2023-03-10
Proceedings Of 2022 International Conference On Autonomous Unmanned Systems Icaus 2022 written by Wenxing Fu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-03-10 with Technology & Engineering categories.
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
The Proceedings Of 2024 International Conference On Artificial Intelligence And Autonomous Transportation
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Author : Jun Liu
language : en
Publisher: Springer Nature
Release Date : 2025-03-27
The Proceedings Of 2024 International Conference On Artificial Intelligence And Autonomous Transportation written by Jun Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-27 with Technology & Engineering categories.
This book reflects the latest research trends, methods and experimental results in the field of Artificial Intelligence and Autonomous Transportation, which covers abundant state-of-the-art research theories and ideas. As a vital research area that is highly relevant to current developments in a number of technological domains, the topics covered include Autonomous Transportation Systems, Autonomous Transportation Management and Control Technology, Autonomous Transportation Equipment Technology, Vehicular Networking and Information Security, Emerging Technologies and Future Mobility, Intelligent water transportation technology, Cross-Domain Transportation Technology, and so on. The goal of the proceedings is to provide a major interdisciplinary forum for researchers, engineers, academics, and industry professionals to present the most innovative research and development in the field of Artificial Intelligence and Autonomous Transportation. Engineers and researchers from academia, industry, and government will also explore an insight view of the solutions that combine ideas from multiple disciplines in this area. The volumes serve as an excellent reference work for researchers and graduate students working in the areas of rail transportation, electrical engineering, and information technology.
Next Gen Urban Buses
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Author : Tsung-Ming Hsu
language : en
Publisher: SAE International
Release Date : 2024-08-26
Next Gen Urban Buses written by Tsung-Ming Hsu and has been published by SAE International this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-08-26 with Technology & Engineering categories.
The deployment of autonomous urban buses brings with it the hope of addressing concerns associated with safety and aging drivers. However, issues related autonomous vehicle (AV) positioning and interactions with road users pose challenges to realizing these benefits. This report covers unsettled issues and potential solutions related to the operation of autonomous urban buses, including the crucial need for all-weather localization capabilities to ensure reliable navigation in diverse environmental conditions. Additionally, minimizing the gap between AVs and platforms during designated parking requires precise localization. Next-gen Urban Buses: Autonomy and Connectivity addresses the challenge of predicting the intentions of pedestrians, vehicles, and obstacles for appropriate responses, the detection of traffic police gestures to ensure compliance with traffic signals, and the optimization of traffic performance through urban platooning—including the need for advanced communication and coordination technology to maintain stability and reliability in high-traffic scenarios. Click here to access the full SAE EDGETM Research Report portfolio. https://doi.org/10.4271/EPR2024019
Autonomous Vehicle
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Author : Andrzej Zak
language : en
Publisher: BoD – Books on Demand
Release Date : 2016-09-07
Autonomous Vehicle written by Andrzej Zak and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-09-07 with Transportation categories.
Autonomous vehicles, despite their relatively short history, have already found practical application in many areas of human activity. Such vehicles are usually replacing people in performing tasks that require long operating time and are held in inaccessible or hazardous environments. Nevertheless, autonomous robotics is probably the area that is being developed the most because of the great demand for such devices in different areas of our lives. This book is a collection of experiences shared by scientists from different parts of the world doing researches and daily exploiting autonomous systems. Giving this book in the hands of the reader, we hope that it will be a treasure trove of knowledge and inspiration for further research in the field of autonomous vehicles.
Path Planning And Tracking For Vehicle Collision Avoidance In Lateral And Longitudinal Motion Directions
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Author : Jie Ji
language : en
Publisher: Springer Nature
Release Date : 2022-06-01
Path Planning And Tracking For Vehicle Collision Avoidance In Lateral And Longitudinal Motion Directions written by Jie Ji and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-01 with Technology & Engineering categories.
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.
The Proceedings Of 2024 International Conference On Artificial Intelligence And Autonomous Transportation
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Author : Limin Jia
language : en
Publisher: Springer Nature
Release Date : 2025-05-01
The Proceedings Of 2024 International Conference On Artificial Intelligence And Autonomous Transportation written by Limin Jia and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-05-01 with Technology & Engineering categories.
This book reflects the latest research trends, methods and experimental results in the field of Artificial Intelligence and Autonomous Transportation, which covers abundant state-of-the-art research theories and ideas. As a vital research area that is highly relevant to current developments in a number of technological domains, the topics covered include Autonomous Transportation Systems, Autonomous Transportation Management and Control Technology, Autonomous Transportation Equipment Technology, Vehicular Networking and Information Security, Emerging Technologies and Future Mobility, Intelligent water transportation technology, Cross-Domain Transportation Technology, and so on. The goal of the proceedings is to provide a major interdisciplinary forum for researchers, engineers, academics, and industry professionals to present the most innovative research and development in the field of Artificial Intelligence and Autonomous Transportation. Engineers and researchers from academia, industry, and government will also explore an insight view of the solutions that combine ideas from multiple disciplines in this area. The volumes serve as an excellent reference work for researchers and graduate students working in the areas of rail transportation, electrical engineering, and information technology.
Distributed Intelligent Circuits And Systems
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Author : Balwinder Baj
language : en
Publisher: World Scientific
Release Date : 2024-03-06
Distributed Intelligent Circuits And Systems written by Balwinder Baj and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-03-06 with Technology & Engineering categories.
The main objective of this book is to provide insights into recent advances in distributed intelligent circuits, systems and their applications. Distributed intelligence is the key enabler for innovations in machine-to-machine communications. The innovations are directed towards keeping existing algorithms as the base and developing new intelligent systems by employing smart technologies. Artificial intelligence (AI) and, more specifically, deep learning (DL) are receiving significant attention in assisting doctors in the detection of disease patterns without much human intervention. In agriculture, robots automate slow, repetitive and dull tasks, allowing farmers to focus more on improving overall production yields.The evolving trends point to the interface of artificial intelligence with machines being a factor in enhancing the decision-making capabilities of smart machines. This book provides relevant theoretical frameworks that include basic models, algorithms, circuit designs and the latest developments in experimental aspects in the field of distributed intelligence systems for industrial applications. The challenges encountered in the development of models for distributed intelligence systems for environmental monitoring are mitigated with artificial intelligence, machine learning and deep learning. This book identifies challenges and helps in applying solutions in the development of advanced intelligent systems for environmental monitoring.