Autonomous Ground Vehicles

Name: Autonomous Ground Vehicles
Brand: Artech House
Price: 135.39 EUR
Availability: OnlineOnly

Umit Ozguner(Autor*in)

Artech House (Verlag)

1. Auflage

Erschienen am 1. Januar 2011

292 Seiten

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978-1-60807-193-7 (ISBN)

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Inhalt

Autonomous Ground Vehicles
Contents
Preface
Chapter 1 Introduction
1.1 Background in Autonomy in Cars
1.2 Components of Autonomy
1.2.1 Sensors
1.2.2 Actuators
1.2.3 Communication
1.2.4 Intelligence
1.3 Notes on Historical Development
1.3.1 Research and Experiments on Autonomous Vehicles
1.3.2 Autonomous Driving Demonstrations
1.3.3 Recent Appearances in the Market
1.4 Contents of this Book
References
Chapter 2 The Role of Control in Autonomous Systems
2.1 Feedback
2.1.1 Speed Control Using Point Mass and Force Input
2.1.2 Stopping
2.1.3 Swerving
2.2 A First Look at Autonomous Control
2.2.1 Car Following and Advanced Cruise Control
2.2.2 Steering Control Using Point Mass Model: Open Loop Commands
2.2.3 Steering Control Using Point Mass Model: Closed-Loop Commands
2.2.4 Polynomial Tracking
2.2.5 Continuous and Smooth Trajectory Establishment
2.2.6 The Need for Command Sequencing
References
Chapter 3 System Architecture and Hybrid System Modeling
3.1 System Architecture
3.1.1 Architectures Within Autonomous Vehicles
3.1.2 Task Hierarchies for Autonomous Vehicles
3.2 Hybrid System Formulation
3.2.1 Discrete Event Systems, Finite State Machines, and Hybrid Systems
3.2.2 Another Look at ACC
3.2.3 Application to Obstacle Avoidance
3.2.4 Another Example: Two Buses in a Single Lane
3.3 State Machines for Different Challenge Events
3.3.1 Macrostates: Highway, City, and Off-Road Driving
3.3.2 The Demo '97 State Machine
3.3.3 Grand Challenge 2 State Machine
3.3.4 The Urban Challenge State Machine
References
Chapter 4 Sensors, Estimation, and Sensor Fusion
4.1 Sensor Characteristics
4.2 Vehicle Internal State Sensing
4.2.1 OEM Vehicle Sensors
4.2.2 Global Positioning System (GPS)
4.2.3 Inertial Measurements
4.2.4 Magnetic Compass (Magnetometer)
4.3 External World Sensing
4.3.1 Radar
4.3.2 LIDAR
4.3.3 Image Processing Sensors
4.3.4 Cooperative Infrastructure Technologies
4.4 Estimation
4.4.1 An Introduction to the Kalman Filter
4.4.2 Example
4.4.3 Another Example of Kalman Filters: Vehicle Tracking for Crash Avoidance
4.5 Sensor Fusion
4.5.1 Vehicle Localization (Position and Orientation)
4.5.2 External Environment Sensing
4.5.3 Occupancy Maps and an Off-Road Vehicle
4.5.4 Cluster Tracking and an On-Road Urban Vehicle
4.6 Situational Awareness
4.6.1 Structure of a Situation Analysis Module
4.6.2 Road and Lane Model Generation
4.6.3 Intersection Generation
4.6.4 Primitives
4.6.5 Track Classification
4.6.6 Sample Results
References
Chapter 5 Examples of Autonomy
5.1 Cruise Control
5.1.1 Background
5.1.2 Speed Control with an Engine Model
5.1.3 More Complex Systems
5.2 Antilock-Brake Systems
5.2.1 Background
5.2.2 Slip
5.2.3 An ABS System
5.3 Steering Control and Lane Following
5.3.1 Background
5.3.2 Steering Control
5.3.3 Lane Following
5.4 Parking
5.4.1 Local Coordinates
5.4.2 Parking Scenarios: General Parking Scenario and DARPA Urban Challenge Autonomous Vehicle Parking Scenario
5.4.3 Simulation and Experimental Results
References
Chapter 6 Maps and Path Planning
6.1 Map Databases
6.1.1 Raster Map Data
6.1.2 Vector Map Data
6.1.3 Utilizing the Map Data
6.2 Path Planning
6.2.1 Path Planning in an Off-Road Environment
6.2.2 An Off-Road Grid-Based Path Planning Algorithm
6.2.3 Other Off-Road Path Planning Approaches
6.2.4 An On-Road Path Planning Algorithm
References
Chapter 7 Vehicle-to-Vehicle and Vehicle-to-Infrastructure Communication
7.1 Introduction
7.2 Vehicle-to-Vehicle Communication (V2V)
7.3 Vehicle-to-Infrastructure Communication (V2I)
7.4 Communication Technologies
7.4.1 Unidirectional Communication Through Broadcast Radio
7.4.2 Cellular/Broadband
7.4.3 Information Showers
7.4.4 Narrowband Licensed 220 MHz
7.4.5 Dedicated Short-Range Communication (DSRC)
7.5 802.11p/WAVE DSRC Architecture and U.S./EU Standards
7.5.1 802.11P Physical Layer
7.5.2 1609.4 Channelization Overview
7.5.3 1609.3 Network Management
7.5.4 EU Programs and Standards Activity
7.6 Potential Applications in an Autonomous Vehicle
7.6.1 Platoons and Adaptive Cruise Control (ACC)
7.6.2 Merging Traffic
7.6.3 Urban Driving with Stop-and-Go Traffic
References
Selected Bibliography
Chapter 8 Conclusions
8.1 Some Related Problems
8.1.1 Fault Tolerance
8.1.2 Driver Modeling
8.2 And the Beat Goes On
References
Appendix
A.1 Two-Wheel Vehicle (Bicycle) Model
A.2 Full Vehicle Model Without Engine Dynamics
A.2.1 Lateral, Longitudinal, and Yaw Dynamics
A.2.2 Suspension Forces and Tire Dynamics
A.2.3 Tire Forces
About the Authors
Index

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