e-book Autonomous Land Vehicles

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Contents

  1. Autonomous Land Vehicles
  2. Table of contents
  3. Press Room | Land Transport Authority
  4. Robotic technologies in the field of transportation area

The navigation system then stores the occurrence and location of the problem road condition. This data can be used later to identify, locate and repair problem road conditions. The systems referred to may increase perceived vehicle operator comfort in some situations, but improvements in the field of autonomous road irregularity avoidance are still desirable.

Since the system is arranged to receive information relating to road irregularity positions, to determine a trajectory for which all wheels are laterally displaced from one or more road irregularities, to steer the host vehicle, to evaluate whether all wheels of the host vehicle were laterally displaced from all detected road irregularities and to send the result to the external database, vehicle operator comfort may be increased. Thanks to the vehicle system for autonomous road irregularity avoidance, driving comfort during autonomous or semi-autonomous driving can be increased. During manual driving, a driver that drives the same road frequently may soon learn a unique profile of the road.

How Autonomous Vehicles Impact Land Use

An example of such a road may be a road between the driver's home and the driver's workplace. An active driver may learn the exact position of road irregularities, such as bumps and potholes, along the road, and may make an effort to avoid them when possible. Often just a small lateral adjustment of the vehicle is enough for the avoidance. The avoidance of driving into road irregularities is beneficial, not only for the driving comfort, but also for reducing wear on e. It may also slow down further degradation on the road, since a pothole is quickly worsened with the number of vehicles that are running their wheels over the pothole.

However, when an experienced driver only may learn one or a few roads, the vehicle system according to enclosed embodiments may use compiled data relating to road irregularities for many roads.

Autonomous Land Vehicles

Several vehicles equipped with the system may send vehicle sensor data relating to detected road irregularities and host vehicle position information to an external database such that a lot of road irregularity position information for road networks may be compiled. Hereby the collectively gathered data may be used in each and every one of the vehicles in order to avoid road irregularities. In autonomous or semi-autonomous vehicles, the system may be very beneficial, since a driver may not be prepared to repeatedly intervene in a situation where the vehicle approaches a pothole. According to some embodiments, the position determination means are arranged to determine the host vehicle position using input both from a global positioning system and from a vehicle system for detecting a lateral distance from road markings.

Since input both from a global positioning system and a vehicle system for detecting a lateral distance from road markings are used, a very accurate determination is achieved. A global positioning system may provide good positional information, and a vehicle system for detecting a lateral distance from road markings may provide the system with accurate information of the vehicle's lateral position on the road. When inputs from both systems are used together, the host vehicle position can be determined in a precise and reliable manner.

According to some embodiments, the vehicle system comprises lateral acceleration sensors, arranged to detect lateral acceleration of the host vehicle, and that the processing means are arranged to determine the host vehicle trajectory for which a lateral acceleration of the host vehicle is minimized. Since the lateral acceleration sensors and the processing means are used to determine a host vehicle trajectory for which a lateral acceleration of the host vehicle is minimized, comfort may be increased.

The host vehicle can travel as smooth as possible along a road section while road irregularities are avoided. According to some embodiments, one or more of the vehicle sensors are arranged to detect a road irregularity when at least one of the host vehicle wheels is in contact with the road irregularity, the sensor being at least one of an inertial sensor, an active chassis sensor, a wheel sensor, an acoustic sensor and a vehicle level sensor.

Table of contents

Since the road irregularity is detected with at least one of an inertial sensor, an active chassis sensor, a wheel sensor, an acoustic sensor and a vehicle level sensor, road irregularities can be detected in a reliable manner when the host vehicle passes the road irregularity. According to some embodiments, one or more of the vehicle sensors are arranged to detect a road irregularity ahead of the host vehicle, the sensor being at least one of an image capturing sensor, a radar sensor and a lidar sensor.

Since the road irregularity is detected with at least one of an image capturing sensor, a radar sensor and a lidar sensor, road irregularities can be detected in a reliable manner ahead of the host vehicle. According to some embodiments, one or more of the sensors are arranged to detect at least one of an elevation and an extension of a road irregularity when at least one of the host vehicle wheels is in contact with the road irregularity, the communication means further being arranged to send vehicle sensor data relating to at least one of the elevation and the extension of the road irregularity to the external database.

Since at least one of an elevation and an extension of a road irregularity is detected and sensor data relating to this is sent to the external database, detailed information relating to the road irregularities can be compiled in the database. According to some embodiments, one or more of the sensors are arranged to detect at least one of an elevation and an extension of a road irregularity ahead of the host vehicle, the communication means further being arranged to send vehicle sensor data relating to at least one of the elevation and the extension of the road irregularity to the external database.

Press Room | Land Transport Authority

Since at least one of an elevation and an extension of a road irregularity is detected and sensor data relating to this is sent to the external database, detailed information relating to the road irregularities may be compiled in the database. Embodiments herein also aim to provide a vehicle without the problems or drawbacks described above.

According to some embodiments, this is achieved by a vehicle comprising a vehicle system for autonomous road irregularity avoidance according to embodiments disclosed herein. Hereby driving comfort can be increased. Embodiments herein also aim to provide a method for allowing a host vehicle to autonomously avoid road irregularities without the problems or drawbacks described above.

Hereby vehicle operator comfort can be increased. According to some embodiments, the method further comprises; determining, by the processing means, the host vehicle trajectory for which a, by the vehicle sensors detected, lateral acceleration of the host vehicle is minimized. Since the host vehicle trajectory for which a lateral acceleration of the host vehicle is minimized is determined, driving comfort can be increased. According to some embodiments, the method further comprises; detecting, by the vehicle sensors, at least one of an elevation and an extension of a road irregularity when at least one of the host vehicle wheels is in contact with the road irregularity; and sending, by the communication means, vehicle sensor data relating to at least one of an elevation and an extension of the road irregularity to the external database.

Further features of, and advantages with, the embodiments herein will become apparent when studying the appended claims and the following detailed description. Those skilled in the art will realize that different features of the embodiments herein may be combined to create embodiments other than those described in the following, without departing from the scope of the appended claims.

The various aspects of embodiments herein, including its particular features and advantages, will be readily understood from the following detailed description and the accompanying drawings, in which:. As required, detailed embodiments of the present disclosure are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components.

Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present disclosure. Embodiments herein will now be described more fully with reference to the accompanying drawings, in which example embodiments are shown. However, this application should not be construed as limited to the embodiments set forth herein.

Disclosed features of example embodiments may be combined as readily understood by one of ordinary skill in the art to which this application belongs. Like numbers refer to like elements throughout. The vehicle drives autonomously or semi-autonomously along a determined vehicle trajectory on a road The road runs in a longitudinal direction of the vehicle , and the road is provided with road markings at its sides.

Trajectories for vehicle wheels are indicated with dashed lines on the road The trajectories for the wheels are parallel to the determined vehicle trajectory but displaced in a lateral direction, i. If no care is taken to avoid the road irregularities ahead of the vehicle , the wheel trajectories may intersect the road irregularities as illustrated in FIG. When one or more of the vehicle wheels are driven into one or several of the road irregularities , a driver of the vehicle may experience discomfort. In FIG.


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The host vehicle 1 is driven along vehicle trajectory 3 on a road 4 comprising road irregularities 5. According to the FIG. The host vehicle 1 comprises vehicle wheels 7 , which are in contact with a surface of the road 4. Trajectories 8 for the wheels 7 are illustrated in parallel with the vehicle trajectory 3.


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  • The trajectories 8 for the vehicle wheels 7 are indicated with dashed lines. The trajectories 8 for the wheels 7 runs in parallel with the vehicle trajectory 3 and are displaced in a lateral direction, i. A host vehicle steering system 9 is arranged to affect at least one host vehicle wheel 7 , for enabling steering of the host vehicle 1. The vehicle system 2 comprises vehicle sensors 10 , arranged to detect any irregularities 5 on the road 4. The sensors 10 may be direct sensors, arranged to detect road irregularities 5 when one or more of the wheels 7 is in contact with one or more of the road irregularities 5.

    Different kind of sensors 10 may be used, such as; Inertial sensors arranged to detect acceleration in different directions. Wheel sensors which can detect forces acting on a wheel. An active chassis sensor which can detect chassis movement A vehicle level sensor, capable to detect when at least a part of the chassis is raised or lowered. Perception model for trajectory following autonomous and human augmented speed control. Perception model for trajectory following autonomous and human augmented steering control.

    CNB zh. WOA1 en. Integration of an autonomous industrial vehicle into an asset management system. Communication technique by which an autonomous guidance system controls an industrial vehicle. Method and system for enhancing a coverage distribution of a robotic garden tool. Control system for self-propelled working vehicle including vehicle course correction means.

    Method for automatically controlling a travelling and cleaning operation of vacuum cleaners. JPHA en. DET2 de. USB1 en. DED1 de. JPA ja. EPB1 en. Global positioning system GPS : A low-cost velocity sensor for correcting inertial sensor errors on ground vehicles.

    Next insight: Basic Sanitation. The key question is whether the next decade will be an evolution or revolution The revolution in this space is for small urban delivery vehicles Insurance companies see the risk simply shifting from the owner to others The concept of self-driving, autonomous vehicles has been talked about for years. The revolution in this space is for small urban delivery vehicles.

    Insurance companies see the risk simply shifting from the owner to others. Interconnected Systems 9 insights. How do the points raised here make you feel about the next decade? Very negative A little negative Neutral Slightly positive Very positive.


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      Robotic technologies in the field of transportation area

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