Download Pilot Study of Systems to Drive Autonomous Vehicles on Test Tracks

Avdelning, Institution
Division, Department
Datum
Date
Division of Automatic Control
Department of Electrical Engineering
Linköpings universitet
SE-581 83 Linköping, Sweden
Språk
Language
Rapporttyp
Report category
ISBN
Svenska/Swedish
Licentiatavhandling
ISRN
Engelska/English
Examensarbete
C-uppsats
D-uppsats
Övrig rapport
2008-03-28
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LITH-ISY-EX--08/4042--SE
Serietitel och serienummer ISSN
Title of series, numbering
—
URL för elektronisk version
http://www.control.isy.liu.se
http://www.ep.liu.se
Titel
Title
Förstudie av System för Körning av Autonoma Fordon på Provbanor
Pilot Study of Systems to Drive Autonomous Vehicles on Test Tracks
Författare Erik Agardt, Markus Löfgren
Author
Sammanfattning
Abstract
This Master’s thesis is a pilot study that investigates different systems to drive autonomous and non-autonomous vehicles simultaneously on test tracks. The thesis
includes studies of communication, positioning, collision avoidance, and techniques
for surveillance of vehicles which are suitable for implementation. The investigation results in a suggested system outline.
Differential GPS combined with laser scanner vision is used for vehicle state
estimation (position, heading, velocity, etc.). The state information is transmitted
with IEEE 802.11 to all surrounding vehicles and surveillance center. With this
information a Kalman prediction of the future position for all vehicles can be
estimated and used for collision avoidance.
Nyckelord
Keywords
Autonomous vehicles, GPS, DGPS, WLAN, fast handover, IEEE 802.11, laser
scanner, lidar, collision avoidance, Kalman filter