Optimal Trajectory Generation Using an Improved Probabilistic Road Map Algorithm for Autonomous Driving

2020 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Irfan Khan ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Trajectory Generation ◽  
Autonomous Driving ◽  
Central Line ◽  
Reference Trajectory ◽  
Map Algorithm ◽  
The Road ◽  
Road Map ◽  
Bicycle Model ◽  
Driving Scenario ◽  
Yaw Angle

Abstract This paper presents a technique based on the probabilistic road map algorithm for trajectory planning in autonomous driving. The objective is to provide an algorithm allowing to compute the trajectory of the vehicle by reducing the distance traveled and minimizing the lateral deviation and relative yaw angle of the vehicle with respect to the reference trajectory, while maximizing its longitudinal speed. The vehicle is considered as a 3 Degree-of-Freedom bicycle model and a Model Predictive Control algorithm is implemented to control the lateral and longitudinal dynamics. Both the control and trajectory generation algorithms take the road lane boundaries as the only input from the surrounding environment exploiting a simulated camera. The performance of the technique is compared with the case in which the reference trajectory is the central line between the lane boundaries. The proposed algorithm is validated in a simulated driving scenario.

Optimal Trajectory Generation Using an Improved Probabilistic Road Map Algorithm for Autonomous Driving

2021 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Irfan Khan ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Autonomous Driving ◽  
Map Algorithm ◽  
Road Map

Combined Lane Keeping and Longitudinal Speed Control for Autonomous Driving

2019 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Control Method ◽  
Autonomous Vehicle ◽  
Speed Control ◽  
Autonomous Driving ◽  
External Input ◽  
The Road ◽  
Longitudinal Dynamic ◽  
Bicycle Model ◽  
Lane Keeping ◽  
Yaw Angle

Abstract This paper presents a technique for the lane keeping and the longitudinal speed control of an autonomous vehicle with the combination of an MPC and a PID control. The goal of the proposed control method is to minimize the lateral deviation and relative yaw angle with respect to the planned trajectory, while driving the vehicle at the highest acceptable longitudinal speed. The reference profile of the longitudinal speed is computed considering both the lateral and longitudinal dynamic of the vehicle. The vehicle is represented by means of a linear 3-DoF bicycle model. The control algorithm takes the road lane boundaries as the only external input. The proposed strategy is validated in simulation on three distinct driving scenarios.

A Model Predictive Control Strategy for Lateral and Longitudinal Dynamics in Autonomous Driving

2020 ◽  
Author(s):  
Irfan Khan ◽  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Nicola Amati
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Strategy ◽  
Autonomous Driving ◽  
Maximum Speed ◽  
Reference Trajectory ◽  
Vehicle Speed ◽  
The Road ◽  
Speed Regulation ◽  
Road Geometry

Abstract This paper presents a controller dedicated to the lateral and longitudinal vehicle dynamics control for autonomous driving. The proposed strategy exploits a Model Predictive Control strategy to perform lateral guidance and speed regulation. To this end, the algorithm controls the steering angle and the throttle and brake pedals for minimizing the vehicle’s lateral deviation and relative yaw angle with respect to the reference trajectory, while the vehicle speed is controlled to drive at the maximum acceptable longitudinal speed considering the adherence and legal speed limits. The technique exploits data computed by a simulated camera mounted on the top of the vehicle while moving in different driving scenarios. The longitudinal control strategy is based on a reference speed generator, which computes the maximum speed considering the road geometry and lateral motion of the vehicle at the same time. The proposed controller is tested in highway, interurban and urban driving scenarios to check the performance of the proposed method in different driving environments.

scholarly journals Explore User Behaviour in Semi-autonomous Driving

2019 ◽  
Vol 1 (1) ◽  
pp. 3871-3880
Author(s):  
Yuan Shi ◽  
Jeyhoon Maskani ◽  
Giandomenico Caruso ◽  
Monica Bordegoni
Keyword(s):  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Lateral Position ◽  
Steering Wheel ◽  
Physiological Indicators ◽  
The Road ◽  
Road Map ◽  
Human Driver ◽  
And Performance ◽  
Physiological Sensors

AbstractThe control shifting between a human driver and a semi-autonomous vehicle is one of the most critical scenarios in the road-map of autonomous vehicle development. This paper proposes a methodology to study driver's behaviour in semi-autonomous driving with physiological-sensors-integrated driving simulators. A virtual scenario simulating take-over tasks has been implemented. The behavioural profile of the driver has been defined analysing key metrics collected by the simulator namely lateral position, steering wheel angle, throttle time, brake time, speed, and the take-over time. In addition, heart rate and skin conductance changes have been considered as physiological indicators to assess cognitive workload and reactivity. The methodology has been applied in an experimental study which results are crucial for taking insights on users’ behaviour. Results show that individual different driving styles and performance are able to be distinguished by calculating and elaborating the data collected by the system. This research provides potential directions for establishing a method to characterize a driver's behaviour in a semi-autonomous vehicle.

scholarly journals Effectiveness of Lateral Auditory Collision Warnings: Should Warnings Be Toward Danger or Toward Safety?

2020 ◽  
pp. 001872082094161
Author(s):  
Jing Chen ◽  
Edin Šabić ◽  
Scott Mishler ◽  
Cody Parker ◽  
Motonori Yamaguchi
Keyword(s):  
Autonomous Driving ◽  
Time Interval ◽  
Time Intervals ◽  
Warning Signals ◽  
Collision Warning ◽  
Warning Tone ◽  
The Road ◽  
Driving Scenario ◽  
The Difference ◽  
Spatially Oriented

Objective The present study investigated the design of spatially oriented auditory collision-warning signals to facilitate drivers’ responses to potential collisions. Background Prior studies on collision warnings have mostly focused on manual driving. It is necessary to examine the design of collision warnings for safe takeover actions in semi-autonomous driving. Method In a video-based semi-autonomous driving scenario, participants responded to pedestrians walking across the road, with a warning tone presented in either the avoidance direction or the collision direction. The time interval between the warning tone and the potential collision was also manipulated. In Experiment 1, pedestrians always started walking from one side of the road to the other side. In Experiment 2, pedestrians appeared in the middle of the road and walked toward either side of the road. Results In Experiment 1, drivers reacted to the pedestrian faster with collision-direction warnings than with avoidance-direction warnings. In Experiment 2, the difference between the two warning directions became nonsignificant. In both experiments, shorter time intervals to potential collisions resulted in faster reactions but did not influence the effect of warning direction. Conclusion The collision-direction warnings were advantageous over the avoidance-direction warnings only when they occurred at the same lateral location as the pedestrian, indicating that this advantage was due to the capture of attention by the auditory warning signals. Application The present results indicate that drivers would benefit most when warnings occur at the side of potential collision objects rather than the direction of a desirable action during semi-autonomous driving.

A2. PA PRIME MINISTER MAHMUD ABBAS AND ISRAELI PRIME MINISTER ARIEL SHARON, STATEMENTS FOLLOWING THE AQABA SUMMIT, AQABA, JORDAN, 4 JUNE 2003 (EXCERPTS).

2003 ◽  
Vol 33 (1) ◽  
pp. 149-151
Keyword(s):  
Prime Minister ◽  
Jewish State ◽  
The Road ◽  
Road Map ◽  
Associated Press ◽  
Occupied Territories ◽  
Arab States ◽  
President Bush

The quadrilateral meeting at Aqaba, intended to ““kick off implementation”” of the road map, was attended by King Abdallah, Prime Minister Abbas, Prime Minister Sharon, and President Bush. All four leaders made statements at the end of the meeting, but only those by Abbas and Sharon are reproduced below. President Bush's statement was noteworthy for its mention of Israel as a ““vibrant Jewish state”” (““America is strongly committed and I am strongly committed to Israel's security as a vibrant Jewish state””) and of Palestinian ““hopes”” for a ““viable”” state, and for reiterating that the Arab states ““have promised to cut off assistance and the flow of money and weapons to terrorists groups and to help Prime Minister Abbas rid Palestinian areas of terrorism.”” The statements by Abbas and Sharon were drafted with U.S. officials prior to the meeting. Though Abbas did not comply with the Israeli demand of Palestinian acknowledgment of Israel as a ““Jewish state,”” his speech provoked indignation in the occupied territories for its reference to ““the suffering of the Jews”” without mention of Palestinian suffering, its reiterated call for ending the ““armed intifada,”” and its ““renunciation”” of terrorism. Sharon resisted U.S. suggestions to refer to ““settlements,”” but did mention ““unauthorized outposts.”” In reference to Sharon's mention of ““territorial contiguity”” for a ““viable”” Palestinian state, a spokesman indicated that the contiguity would be ensured by ““bridges and tunnels.”” The text of the statements, transcribed by eMediaMill- Works and carried by the Associated Press, was posted on the Washington Post's Website.

The IFLA Global Vision Project in Zimbabwe: Towards a Unified Field Road Map for Libraries

Mousaion ◽  
2020 ◽  
Vol 37 (2) ◽  
Author(s):  
Collence Takaingenhamo Chisita ◽  
Nyarai Patience Chibanda
Keyword(s):  
Economic Transformation ◽  
International Federation ◽  
Access To Information ◽  
Factors Affecting ◽  
The Road ◽  
Unified Field ◽  
Road Map ◽  
Library Associations ◽  
Global Vision ◽  
Library Profession

The development of libraries in any country is critical for its socio-economic transformation especially during this 21st century era where access to information and knowledge underpins development. The International Federation of Library Associations and Institutions (IFLA) launched the Global Vision Project in 2017 as a way of strengthening library throughout the world. The project has seen over 190 countries participating worldwide. For most nations, especially those in the developing countries, this has indeed created platforms for strong and united library associations that are powering literate, informed and participative societies. A number of countries in Africa including Zimbabwe have taken the initiatives to participate in the IFLA Global Vision. This article seeks to examine the challenges and opportunities   for librarians in Zimbabwe in building a united library field. It will also scrutinize the road travelled by librarians in Zimbabwe in their pursuit of a vision to reposition their libraries on the global library landscape. The   article will also study the factors affecting the development of a unified library sector in Zimbabwe. It will also explore how the national professional association Zimbabwe Library Association (ZIMLA) can contribute towards a unified library profession through collaboration. The article also proposes a strategy to enhance cooperation among librarians in Zimbabwe.

EMPOWERING WOMEN THROUGH ENTREPRENEURSHIP: ASPECTS AND APPROACHES

2014 ◽  
Vol 6 (01) ◽  
Author(s):  
JAVED ALAM SHEIKH
Keyword(s):  
Economic Development ◽  
Developed Countries ◽  
Substantial Contribution ◽  
Economic Empowerment ◽  
World Population ◽  
Least Developed Countries ◽  
The Road ◽  
Road Map ◽  
The World ◽  
The Status

Almost 50 per cent of the world population is constituted by the women and they have been making substantial contribution to socio-economic development. But, unfortunately their tremendous contribution remains unrecognized and unnoticed in most of the developing and least developed countries causing the problem of poverty among them. Empowering women has become the key element in the development of an economy. With women moving forward, the family moves, the village moves and the nation moves. Hence, improving the status of women by way of their economic empowerment is highly called for. Entrepreneurship is a key tool for the economic empowerment of women around the world for alleviating poverty. Entrepreneurship is now widely recognized as a tool of economic development in India also. In this paper I have tried to discuss the reasons and role of Women Entrepreneurship with the help of Push and Pull factors. In the last I have also discussed the problems and the road map of Women Entrepreneurs development in India.

Sign in / Sign up

Export Citation Format

Share Document