Search results for "Autonomous vehicle"

A mixed reality simulator for an autonomous delivery system using platooning

2021

Developments in the field of autonomous vehicles have encouraged research to innovate technology to solve everyday problems. E-commerce has been on the rise and, freighttransportation is considered an environmental nuisance, especially in the city centers. Electric vehicles have been proposed to reduce the environmental impact of transit vehicles. A package delivery system using a platoon of autonomous electric delivery vehicles and established public transport networks in cities can be employed to solve these problems. But autonomous vehicle testing is a point of concern for authorities and the public alike. This paper acknowledges this problem of validating the algorithms used to create a…

Erle-copter Simulation using ROS and Gazebo

2020

The recent decrease in the price as well as size of semi-conductor logic and due to significant advancements in technologies such as microcontrollers, motors and sensors, the application of quadcopters in several fields has been achieved. However, testing of quadcopter prototypes still has a risk of damage due to faults and unexpected behavior. Hence, a method of testing of quadcopters in simulation mimicking the actual conditions of the real environment in an actual hardware test has been proposed. For this purpose, Gazebo simulator integrated with ROS has been chosen for the simulation of the path of the quadcopter. Moreover, the software Matlab/Simulink has been interfaced with Gazebo in…

ROAD SAFETY PERFORMANCES FROM MICRO-SIMULATION CONSIDERING AUTONOMOUS VEHICLES OPERATIONS

2019

Introduction of Autonomous Vehicles in road traffic will remove the impact of the human factor from the driver’s decision-making process, and will transform the criteria for road network design, road infrastructure administration, traffic modeling and assessment tools for road safety management. The paper presents a microsimulation-based approach for safety performance evaluation of roundabouts where different percentages of Autonomous Vehicles are mixed with Conventional Vehicles. The simulated vehicle trajectories exported from VISSIM were used as a basis to estimate traffic conflicts through the Surrogate Safety Assessment Model (SSAM) for a sample of European roundabouts. In order to be…

Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers

2023

This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…

Autonomous maritime ecosystem : digital concepts and business case : results from the JYU TJTSM54 course on advanced topics on systems development

2019

Traffic congestion reduction based on vehicle platoons and intelligent crossroads interactions

2021

Intersections are at the core of urban congestion. For more than a decade, new approaches based on autonomous and connected driving have been proposed. They aim to improve the performance of traffic control at intersections, by harnessing connectivity and driving automation (longitudinal control). These approaches have in common the fact that vehicles can negotiate together their right of way to use the conflicting space. However, they are different in terms of the way they share the space and optimization techniques. The challenge is to define the sequence of access of vehicles to the common space (which one goes first, which is the second, and so on) and the speed profile of vehicles to a…

Safety evaluation of turbo roundabout with and without internal traffic separations considering autonomous vehicles operation

The paper presents a microsimulation approach for assessing the safety performance of turbo-roundabouts where Cooperative Autonomous Vehicles “CAVs” have been mixed with conventional vehicles “CVs”. Based on the analysis of vehicle trajectories from VISSIM and subsequent analysis of traffic conflicts through the Surrogate Safety Assessment Model (SSAM), the research aims to evaluate the safety benefits of turbo-roundabouts where the lanes are physically separated by raised curbs compared to roundabouts without curbs. The paper shall also lead to describe the methodological path followed to build VISSIM models of turboroundabout with and without raised curbs, to calibrate the simulation mode…

Safety Evaluation of Turbo-Roundabouts with and without Internal Traffic Separations Considering Autonomous Vehicles Operation

2021

The paper presents a microsimulation approach for assessing the safety performance of turbo-roundabouts where Cooperative Autonomous Vehicles “CAVs” have been introduced into the traffic mix alongside conventional vehicles “CVs”. Based on the analysis of vehicle trajectories from VISSIM and subsequent analysis of traffic conflicts through the Surrogate Safety Assessment Model (SSAM), the research aims to evaluate the safety benefits of turbo-roundabouts where the lanes are physically separated by raised curbs, compared to roundabouts without such curbs. The paper will then describe the methodological path followed to build VISSIM models of turbo-roundabouts with and without raised curbs in …