Search results for "Vehicles"
showing 10 items of 202 documents
SAGECELL: Software-Defined Space-Air-Ground Integrated Moving Cells
2018
Ultra-dense networks (UDNs) provide an effective solution to accommodate the explosively growing data traffic of multimedia services and real-time applications. However, the densification of large numbers of static small cells faces many fundamental challenges, including deployment cost, energy consumption and control, and so on. This motivates us to develop software-defined space-air-ground integrated moving cells (SAGECELL), a programmable, scalable, and flexible framework to integrate space, air, and ground resources for matching dynamic traffic demands with network capacity supplies. First, we provide a comprehensive review of state-of-the-art literature. Then the conceptual architectur…
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
2021
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…
Passenger Car Equivalents for Heavy Vehicles at Roundabouts. a Synthesis Review
2019
Passenger Car Equivalents (PCEs in the following) are used to transform a mixed fleet of vehicles into a fleet of equivalent passenger cars and to analyze capacity and level-of-service of roads and intersections. Most roundabouts guidelines propose constant values for PCEs but a single PCE value can result improper under heterogeneous traffic conditions. PCEs should be vary with traffic and road conditions and consequently PCEs applied to undersaturated traffic conditions can overestimate the heavy vehicle effect or be not sensitive to the traffic level or characteristics of heavy vehicles. Compared to other at-grade intersections, the interaction between the operational performances of the…
Identification of differential risk hotspots for collision and vehicle type in a directed linear network
2019
Traffic accidents can take place in very different ways and involve a substantially distinct number and types of vehicles. Thus, it is of interest to know which parts of a road structure present an overrepresentation of a specific type of traffic accident, specially for some typologies of collisions and vehicles that tend to trigger more severe consequences for the users being involved. In this study, a spatial approach is followed to estimate the risk that different types of collisions and vehicles present in the central area of Valencia (Spain), considering the accidents observed in this city during the period 2014-2017. A directed spatial linear network representing the non-pedestrian ro…
PV-Alert: A fog-based architecture for safeguarding vulnerable road users
2017
International audience; High volumes of pedestrians, cyclists and other vulnerable road users (VRUs) have much higher casualty rates per mile; not surprising given their lack of protection from an accident. In order to alleviate the problem, sensing capabilities of smartphones can be used to detect, warn and safeguard these road users. In this research we propose an infrastructure-less fog-based architecture named PV-Alert (Pedestrian-Vehicle Alert) where fog nodes process delay sensitive data obtained from smartphones for alerting pedestrians and drivers before sending the data to the cloud for further analysis. Fog computing is considered in developing the architecture since it is an emer…
A well-scalable metaheuristic for the fleet size and mix vehicle routing problem with time windows
2009
This paper presents an efficient and well-scalable metaheuristic for fleet size and mix vehicle routing with time windows. The suggested solution method combines the strengths of well-known threshold accepting and guided local search metaheuristics to guide a set of four local search heuristics. The computational tests were done using the benchmarks of [Liu, F.-H., & Shen, S.-Y. (1999). The fleet size and mix vehicle routing problem with time windows. Journal of the Operational Research Society, 50(7), 721-732] and 600 new benchmark problems suggested in this paper. The results indicate that the suggested method is competitive and scales almost linearly up to instances with 1000 custome…
A Microsimulation-Based Modelling Approach for Connected and Automated Vehicles on Roundabouts
2023
Connectivity and automation are technologies applied in combination to achieve increases in road safety, traffic efficiency and energy savings. Despite their potential, there are still many open questions regarding how roadway capacity will be affected and what methods should be employed to assess the expected benefits in the transportation domain. In this paper “what-if” scenarios were modelled in Aimsun Next to analyse assumption-based behaviour of automated vehicles operating with a cooperative adaptive cruise control system on roundabouts. The idea behind the study comes from the availability of the capacity adjustment factors for connected and automated vehicles provided by the Highway…
A navigation and control algorithm for the position tracking of underwater vehicles
2014
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position trac…
Decentralized Coordination System for Multiple AGVs in a Structured Environment
2011
Abstract In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
Integrated Simulation and Formal Verification of a Simple Autonomous Vehicle
2018
This paper presents a proof-of-concept application of an approach to system development based on the integration of formal verification and co-simulation. A simple autonomous vehicle has the task of reaching an assigned straight path and then follow it, and it can be controlled by varying its turning speed. The correctness of the proposed control law has been formalized and verified by interactive theorem proving with the Prototype Verification System. Concurrently, the system has been co-simulated using the Prototype Verification System and the MathWorks Simulink tool: The vehicle kinematics have been simulated in Simulink, whereas the controller has been modeled in the logic language of t…