A cognitive navigation approach for autonomous vehicles:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin
Mensch-und-Buch-Verl.
2012
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | 254 S. Ill., graph. Darst. |
| ISBN: | 9783863872380 |
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| adam_text | IMAGE 1
TABLE OF CONTENTS
1 INTRODUCTION 17
1.1 M O T I V A T I O N 17
1.2 P E R C E P T I O N - D E C I S I O N - A C T I O N C Y C L E A S R
O B O T I C P A R A D I G M 2 1
1.2.1 P E R C E P T I O N 2 2
1.2.2 D E C I S I O N 2 3
1.2.3 A C T I O N 2 4
1.3 L E G A L I S S U E S A N D A C C E P T A N C E 2 5
1.4 T H E S I S C O N T R I B U T I O N S 2 7
1.5 T H E S I S O U T L I N E 2 9
2 SUMMARY O F AUTONOMOUS DRIVING PROJECTS 31
2.1 A U T O N O M O U S V E H I C L E S P R I O R T O 2 0 0 0 3 3
2.1.1 F I R S T S I M P L E A U T O N O M O U S V E H I C L E S , 1 9 6
1 - 1 9 7 7 3 3
2 . 1 . 2 D A R P A A U T O N O M O U S L A N D V E H I C L E , 1 9 8 0
3 4
2 . 1 . 3 C A R N E G I E M E L L O N N A V L A B , 1984 3 5
2 . 1 . 4 E U R E K A P R O M E T H E U S P R O J E C T , 1 9 8 7 - 1 9
9 5 3 6
2 . 1 . 5 A U T O N O M O U S H I G H W A Y S Y S T E M D E M O N S T R
A T I O N , 1997 3 7
2 . 2 D A R P A G R A N D C H A L L E N G E 2 0 0 4 - 2 0 0 5 3 8
2.2.1 S T A N L E Y , 2 0 0 5 4 0
2 . 2 . 2 S A N D S T O R M , 2 0 0 5 4 1
2 . 3 D A R P A U R B A N C H A L L E N G E 2 0 0 7 4 2
2.3.1 B O S S , 2 0 0 7 4 4
2 . 3 . 2 J U N I O R , 2 0 0 7 4 5
2 . 4 R E C E N T A U T O N O M O U S C A R S , 2 0 0 7 - 2 0 1 2 4 6
2.4.1 E U R O P E A N L A N D - R O B O T T R I A L , 2 0 0 7 - 2 0 1 2
4 7
11
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IMAGE 2
TABLE OF CONTENTS
2 . 4 . 2 P R I B O T , 2 0 0 8 4 8
2 . 4 . 3 G O O G L E D R I V C R L E S S C A R , 2 0 1 0 4 9
2 . 4 . 4 V I S L A B I N T E R C O N T I N E N T A L A U T O N O M O U
S C H A L L E N G E , 2 0 1 0 5 0
2 . 4 . 5 S H E L L E Y , 2 0 1 0 5 1
2 . 4 . 6 L E O N I E , 2 0 1 0 5 2
2.5 A U T O N O M O U S V E H I C L E S B Y F R E I E U N I V E R S I T
A T B E R L I N , S I N C E 2 0 0 6 5 3
2 . 6 F U T U R E O U T L O O K 5 4
3 PROJECT DESCRIPTION AND ARCHITECTURE 57
3.1 A U T O N O M O S L A B S 5 7
3 . 2 S P I R I T O F B E R L I N 5 8
3.3 M A D E IN G E R M A N Y 6 4
3 . 4 S O F T W A R E S Y S T E M A R C H I T E C T U R E 6 7
3.4.1 V E H I C L E D A T A A N D L O C A L I Z A T I O N M O D U L E S
6 9
3 . 4 . 2 C V E N V I R O N M E N T A L P E R C E P T I O N M O D U L E
S 6 9
3 . 4 . 3 3 D E N V I R O N M E N T A L P E R C E P T I O N M O D U L E
S 7 0
3 . 4 . 4 C O G N I T I V E N A V I G A T I O N M O D U L E S 7 0
3 . 4 . 5 C O N T R O L A N D A C T U A T O R M O D U L E S 7 1
3 . 4 . 6 A D D I T I O N A L M O D U L E S 7 2
3 . 4 . 7 B E H A V I O R A L E X E C U T I V E 7 3
4 MAPPING AND LOCALIZATION 75
4.1 R E L A T E D W O R K 7 6
4 . 2 R O U T E N E T W O R K D E F I N I T I O N F I L E 7 7
4 . 3 G R A P H R E P R E S E N T A T I O N O F R O U T E N E T W O R K
7 9
4 . 4 D E F I N I N G M I S S I O N S F O R A U T O N O M O U S D R I V
I N G 8 2
4 . 5 L O C A L I Z A T I O N 8 3
4 . 6 E X P E R I M E N T S A N D R E S U L T S 8 6
4.6.1 LIST O F D I G I T A L R O U T E N E T W O R K S C R E A T E D 8 6
4 . 6 . 2 B E N C H M A R K R E S U L T S 9 8
4 . 7 S U M M A R Y 100
5 PATH-PLANNING IN STRUCTURED AREAS 103
5.1 R E L A T E D W O R K 104
5 . 2 T R A J E C T O R Y G E N E R A T I O N 105
5.2.1 G E N E R A T I N G A M A C R O P L A N 1 0 6
5 . 2 . 2 G E N E R A T I N G A P O I N T S A M P L E D P L A N 1 0 8
5 . 2 . 3 G E N E R A T I N G A M I C R O P L A N 1 0 8
5 . 2 . 4 L A T E R A L S H I F T S 110
5 . 2 . 5 L A N E C H A N G E S 1 1 2
5 . 2 . 6 L A T E R A L D R I F T S 1 1 2
12
IMAGE 3
TABLE OF CONTENTS
5 . 3 E D G E T R A C K 112
5 . 4 A C T I O N T R A C K 114
5.5 T R A J E C T O R Y E V A L U A T I O N 115
5 . 6 R I G H T O F W A Y 117
5 . 7 E X P E R I M E N T S A N D R E S U L T S 118
5 . 8 S U M M A R Y 124
6 PATH-PLANNING IN UNSTRUCTURED AREAS 125
6.1 R E L A T E D W O R K 1 2 6
6 . 2 P L A N N I N G G R I D 128
6 . 3 S E A R C H A L G O R I T H M 1 3 0
6 . 4 T R A N S I T I O N S 1 3 6
6 . 5 E X P E R I M E N T S A N D R E S U L T S 1 3 6
6 . 6 S U M M A R Y 137
7 LOW-LEVEL CONTROLLER 139
7.1 R E L A T E D W O R K 1 4 0
7 . 2 V E H I C L E M O D E L A N D N O T A T I O N 141
7.2.1 C O O R D I N A T E S Y S T E M S 141
7 . 2 . 2 A C C E L E R A T I O N M O D E L 142
7 . 2 . 3 B R A K E M O D E L 145
7 . 2 . 4 S T E E R M O D E L 148
7.3 S M O O T H N E S S A N D S A F E T Y M E A S U R E S 150
7.3.1 IDLE A N D C O M F O R T W I N D O W S 150
7 . 3 . 2 S T E E R W I N D O W 151
7 . 3 . 3 T H R O T T L E W I N D O W 1 5 2
7 . 4 L O N G I T U D I N A L C O N T R O L L E R 1 5 2
7.4.1 D E T E R M I N I N G A T A R G E T S P E E D 152
7 . 4 . 2 C O N T R O L L I N G F O R A T A R G E T S P E E D 155
7 . 4 . 3 E X P E R I M E N T S A N D R E S U L T S 1 5 6
7 . 5 L A T E R A L C O N T R O L L E R 1 6 0
7.5.1 S T A N L E Y M E T H O D 161
7 . 5 . 2 P D C O N T R O L 162
7 . 5 . 3 E X P E R I M E N T S A N D R E S U L T S 1 6 3
7 . 6 M A C H I N E L E A R N I N G 1 6 8
7.6.1 M A C H I N E L E A R N I N G A R C H I T E C T U R E 1 6 9
7 . 6 . 2 R E I N F O R C E M E N T L E A R N I N G 171
7 . 6 . 3 S U P E R V I S E D L E A R N I N G 174
7 . 6 . 4 M O D E L L E A R N I N G 174
7 . 7 S U M M A R Y 177
13
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TABLE OF CONTENTS
8 EXPERIMENTS AND RESULTS 179
8.1 A U T O N O M O U S C A R S H A R I N G V I D E O 1 7 9
8 . 2 E X P E R I M E N T A L T E S T S O N T H F - P R E S E N T A T I
O N T R A C K 1 8 0
8 . 3 E X P E R I M E N T A L T E S T S O N A V U S T R A C K 1 8 3
8 . 4 E X P E R I M E N T A L T E S T S O N B I B E N D U M - P R E S E
N T A T I O N T R A C K 184
8.5 E X P E R I M E N T A L T E S T S O N K A I S E R D A M M T R A C K
184
8 . 6 S U R V E Y R E S U L T S 187
8 . 7 S U M M A R Y 191
9 ADDITIONAL TOPICS: HUMAN-MACHINE INTERFACES 193
9.1 I P H O N E C O N T R O L L E D V E H I C L E 194
9 . 2 I P A D C O N T R O L L E D V E H I C L E 1 9 8
9 . 3 E Y E T R A C K E R C O N T R O L L E D V E H I C L E 2 0 1
9 . 4 B R A I N C O M P U T E R I N T E R F A C E C O N T R O L L E D V
E H I C L E 2 0 3
9 . 5 S U M M A R Y 2 0 4
10 CONCLUSIONS 207
10.1 O P E N T O P I C S 2 0 8
10.2 F U T U R E W O R K 2 0 9
10.3 F U T U R E O U T L O O K 2 1 1
A APPENDIX A: SOFTWARE SYSTEM ARCHITECTURE DIAGRAM 213
B APPENDIX B: PREVIOUSLY PUBLISHED WORKS 217
BIBLIOGRAPHY 219
ONLINE REFERENCES 245
LIST O F FIGURES 251
14
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| author | Wang, Miao |
| author_facet | Wang, Miao |
| author_role | aut |
| author_sort | Wang, Miao |
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| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik Verkehr / Transport |
| format | Thesis Book |
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| institution | BVB |
| isbn | 9783863872380 |
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| spelling | Wang, Miao Verfasser aut A cognitive navigation approach for autonomous vehicles vorgelegt von Miao Wang Berlin Mensch-und-Buch-Verl. 2012 254 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Berlin, Freie Univ., Diss., 2012 Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Bahnplanung (DE-588)4267628-9 s Navigation (DE-588)4041457-7 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025489117&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Wang, Miao A cognitive navigation approach for autonomous vehicles Autonomes Fahrzeug (DE-588)7714938-5 gnd Bahnplanung (DE-588)4267628-9 gnd Navigation (DE-588)4041457-7 gnd |
| subject_GND | (DE-588)7714938-5 (DE-588)4267628-9 (DE-588)4041457-7 (DE-588)4113937-9 |
| title | A cognitive navigation approach for autonomous vehicles |
| title_auth | A cognitive navigation approach for autonomous vehicles |
| title_exact_search | A cognitive navigation approach for autonomous vehicles |
| title_full | A cognitive navigation approach for autonomous vehicles vorgelegt von Miao Wang |
| title_fullStr | A cognitive navigation approach for autonomous vehicles vorgelegt von Miao Wang |
| title_full_unstemmed | A cognitive navigation approach for autonomous vehicles vorgelegt von Miao Wang |
| title_short | A cognitive navigation approach for autonomous vehicles |
| title_sort | a cognitive navigation approach for autonomous vehicles |
| topic | Autonomes Fahrzeug (DE-588)7714938-5 gnd Bahnplanung (DE-588)4267628-9 gnd Navigation (DE-588)4041457-7 gnd |
| topic_facet | Autonomes Fahrzeug Bahnplanung Navigation Hochschulschrift |
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| work_keys_str_mv | AT wangmiao acognitivenavigationapproachforautonomousvehicles |