Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas

2016 ◽  
Author(s):  
Hiroki Ohta ◽  
Naoki Akai ◽  
Eijiro Takeuchi ◽  
Shinpei Kato ◽  
Masato Edahiro
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Field Testing ◽  
Pure Pursuit

scholarly journals Implications of Autonomous Vehicles for Accessibility and Transport Equity: A Framework Based on Literature

2021 ◽  
Vol 13 (8) ◽  
pp. 4448
Author(s):  
Alberto Dianin ◽  
Elisa Ravazzoli ◽  
Georg Hauger
Keyword(s):  
Conceptual Model ◽  
Transport System ◽  
Urban Areas ◽  
Autonomous Vehicles ◽  
Scientific Literature ◽  
Social Groups ◽  
Future Studies ◽  
Social Accessibility ◽  
The Relationship

Increasing accessibility and balancing its distribution across space and social groups are two fundamental goals to make transport more sustainable and equitable. In the next decades, autonomous vehicles (AVs) could significantly transform the transport system, influencing accessibility and transport equity. In particular, depending on the assumed features of AVs (e.g., private or collective) and the considered spatial, social, and regulative context (e.g., rural or urban areas), impacts may be very different. Nevertheless, research in this field is still limited, and the relationship between AV assumptions and accessibility impacts is still partially unclear. This paper aims to provide a framework of the key and emerging aspects related to the implications of AVs for accessibility and transport equity. To set this framework, we perform an analysis of the scientific literature based on a conceptual model describing the implications of AVs for the distribution of accessibility across space and social groups. We recognize four main expected impacts of AVs on accessibility: (1) accessibility polarization, (2) accessibility sprawl, (3) exacerbation of social accessibility inequities, and (4) alleviation of social accessibility inequities. These impacts are described and analyzed in relation to the main AV assumptions expected to trigger them through different mechanisms. Based on the results, some recommendations for future studies intending to focus on the relation between AVs, accessibility, and transport equity are provided.

scholarly journals CREATING MULTI-TEMPORAL MAPS OF URBAN ENVIRONMENTS FOR IMPROVED LOCALIZATION OF AUTONOMOUS VEHICLES

2020 ◽  
Vol XLIII-B2-2020 ◽  
pp. 317-323
Author(s):  
J. Schachtschneider ◽  
C. Brenner
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Weather Conditions ◽  
Point Clouds ◽  
Urban Environments ◽  
Seasonal Effects ◽  
Data Set ◽  
Multi Temporal ◽  
One Year

Abstract. The development of automated and autonomous vehicles requires highly accurate long-term maps of the environment. Urban areas contain a large number of dynamic objects which change over time. Since a permanent observation of the environment is impossible and there will always be a first time visit of an unknown or changed area, a map of an urban environment needs to model such dynamics.In this work, we use LiDAR point clouds from a large long term measurement campaign to investigate temporal changes. The data set was recorded along a 20 km route in Hannover, Germany with a Mobile Mapping System over a period of one year in bi-weekly measurements. The data set covers a variety of different urban objects and areas, weather conditions and seasons. Based on this data set, we show how scene and seasonal effects influence the measurement likelihood, and that multi-temporal maps lead to the best positioning results.

scholarly journals How Can Smart Mobility Innovations Alleviate Transportation Disadvantage? Assembling a Conceptual Framework through a Systematic Review

2020 ◽  
Vol 10 (18) ◽  
pp. 6306 ◽  
Author(s):  
Luke Butler ◽  
Tan Yigitcanlar ◽  
Alexander Paz
Keyword(s):  
Conceptual Framework ◽  
Intelligent Transportation Systems ◽  
Urban Areas ◽  
Autonomous Vehicles ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
Technological Innovations ◽  
Potential Solution ◽  
Wide Range ◽  
Smart Mobility

Transportation disadvantage is about the difficulty accessing mobility services required to complete activities associated with employment, shopping, business, essential needs, and recreation. Technological innovations in the field of smart mobility have been identified as a potential solution to help individuals overcome issues associated with transportation disadvantage. This paper aims to provide a consolidated understanding on how smart mobility innovations can contribute to alleviate transportation disadvantage. A systematic literature review is completed, and a conceptual framework is developed to provide the required information to address transportation disadvantage. The results are categorized under the physical, economic, spatial, temporal, psychological, information, and institutional dimensions of transportation disadvantage. The study findings reveal that: (a) Primary smart mobility innovations identified in the literature are demand responsive transportation, shared transportation, intelligent transportation systems, electric mobility, autonomous vehicles, and Mobility-as-a-Services. (b) Smart mobility innovations could benefit urban areas by improving accessibility, efficiency, coverage, flexibility, safety, and the overall integration of the transportation system. (c) Smart mobility innovations have the potential to contribute to the alleviation of transportation disadvantage. (d) Mobility-as-a-Service has high potential to alleviate transportation disadvantage primarily due to its ability to integrate a wide-range of services.

scholarly journals Factors That Influence Older Canadians’ Preferences for using Autonomous Vehicle Technology: A Structural Equation Analysis

2019 ◽  
Vol 2673 (1) ◽  
pp. 469-480 ◽  
Author(s):  
Hany M. Hassan ◽  
Mark R. Ferguson ◽  
Saiedeh Razavi ◽  
Brenda Vrkljan
Keyword(s):  
Quality Of Life ◽  
Older Adults ◽  
Urban Areas ◽  
Autonomous Vehicles ◽  
Structural Equation ◽  
Well Being ◽  
Transportation Systems ◽  
Equation Modeling ◽  
Willingness To Use

Accessible and safe mobility is critical for those aged 65 years and older to maintain their health, quality of life, and well-being. Being able to move beyond one’s home and participate in activities in older adulthood requires consideration of both transportation needs and preferences. This paper aims to address a gap in evidence with respect to understanding factors that can affect older adults’ perceptions and willingness to use autonomous vehicles. In addition, it examines how these factors compare with those of younger adults to better understand the potential implications of this technology on mobility and quality of life. Using responses of those aged 65+ to a national survey of Canadians, structural equation modeling (SEM) was used to identify and quantify factors significantly associated with older adults’ willingness to use autonomous vehicles. The SEM results suggest that factors such as using other modes of transit (e.g., sharing rides as passenger, bicycle, public transit, commuter rail, ride and car sharing) as well as distance traveled by automobile, income, gender (being male), and living in urban areas, were all positively associated with older adults’ perceptions of using autonomous driving features. The findings also suggest that older Canadians are more concerned about autonomous vehicles than younger Canadians. This study provides valuable insights into factors that can affect the preferences of Canadians when it comes to autonomous technology in their automobiles. Such results can inform the way in which transportation systems are designed to ensure the needs of users are considered across both age and ability.

scholarly journals A Review of the Transformation of Road Transport Systems: Are We Ready for the Next Step in Artificially Intelligent Sustainable Transport?

2019 ◽  
Vol 3 (1) ◽  
pp. 1 ◽  
Author(s):  
Umair Hasan ◽  
Andrew Whyte ◽  
Hamad Al Jassmi
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Intelligent Transportation System ◽  
Critical Evaluation ◽  
Value Added ◽  
Pollutant Emissions ◽  
Transport Systems ◽  
Privacy And Security ◽  
Pilot Studies ◽  
Empirical Modelling

Mobility is experiencing a revolution, as advanced communications, computers with big data capacities, efficient networks of sensors, and signals, are developing value-added applications such as intelligent spaces and autonomous vehicles. Another new technology that is both promising and might even be pervasive for faster, safer and more environmentally-friendly public transport (PT) is the development of autonomous vehicles (AVs). This study aims to understand the state of the current research on the artificially intelligent transportation system (ITS) and AVs through a critical evaluation of peer-reviewed literature. This study’s findings revealed that the majority of existing research (around 82% of studies) focused on AVs. Results show that AVs can potentially reduce more than 80% of pollutant emissions per mile if powered by alternate energy resources (e.g., natural gas, biofuel, electricity, hydrogen cells, etc.). Not only can private vehicle ownership be cut down by bringing in ridesharing but the average vehicle miles travelled (VMT) should also be reduced through improved PT. The main benefits of AV adoption were reported in the literature to be travel time, traffic congestion, cost and environmental factors. Findings revealed barriers such as technological uncertainties, lack of regulation, unawareness among stakeholders and privacy and security concerns, along with the fact that lack of simulation and empirical modelling data from pilot studies limit the application. AV–PT was also found to be the most sustainable strategy in dense urban areas to shift the heavy trip load from private vehicles.

scholarly journals Mode Switching Control Using Lane Keeping Assist and Waypoints Tracking for Autonomous Driving in a City Environment

2021 ◽  
pp. 036119812110566
Author(s):  
Nadjim Horri ◽  
Olivier Haas ◽  
Sheng Wang ◽  
Mathias Foo ◽  
Manuel Silverio Fernandez
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Driving ◽  
Mode Switching ◽  
Emergency Braking ◽  
Automatic Driving ◽  
Supervisory Controller ◽  
Multi Stage ◽  
Safety Constraints ◽  
Pure Pursuit ◽  
Lane Keeping

This paper proposes a mode switching supervisory controller for autonomous vehicles. The supervisory controller selects the most appropriate controller based on safety constraints and on the vehicle location with respect to junctions. Autonomous steering, throttle and deceleration control inputs are used to perform variable speed lane keeping assist, standard or emergency braking and to manage junctions, including roundabouts. Adaptive model predictive control with lane keeping assist is performed on the main roads and a linear pure pursuit inspired controller is applied using waypoints at road junctions where lane keeping assist sensors present a safety risk. A multi-stage rule based autonomous braking algorithm performs stop, restart and emergency braking maneuvers. The controllers are implemented in MATLAB® and Simulink™ and are demonstrated using the Automatic Driving Toolbox™ environment. Numerical simulations of autonomous driving scenarios demonstrate the efficiency of the lane keeping assist mode on roads with curvature and the ability to accurately track waypoints at cross intersections and roundabouts using a simpler pure pursuit inspired mode. The ego vehicle also autonomously stops in time at signaled intersections or to avoid collision with other road users.

scholarly journals Design, Validation and Comparison of Path Following Controllers for Autonomous Vehicles

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6052
Author(s):  
Xing Yang ◽  
Lu Xiong ◽  
Bo Leng ◽  
Dequan Zeng ◽  
Guirong Zhuo
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
Longitudinal Motion ◽  
Speed Tracking ◽  
Disturbance Rejection Control ◽  
Pure Pursuit ◽  
Future Direction

As one of the core issues of autonomous vehicles, vehicle motion control directly affects vehicle safety and user experience. Therefore, it is expected to design a simple, reliable, and robust path following the controller that can handle complex situations. To deal with the longitudinal motion control problem, a speed tracking controller based on sliding mode control with nonlinear conditional integrator is proposed, and its stability is proved by the Lyapunov theory. Then, a linear parameter varying model predictive control (LPV-MPC) based lateral controller is formulated that the optimization problem is solved by CVXGEN. The nonlinear active disturbance rejection control (ADRC) method is applied to the second lateral controller that is easy to be implemented and robust to parametric uncertainties and disturbances, and the pure pursuit algorithm serves as a benchmark. Simulation results in different scenarios demonstrate the effectiveness of the proposed control schemes, and a comparison is made to highlight the advantages and drawbacks. It can be concluded that the LPV-MPC has some trouble to handle uncertainties while the nonlinear ADRC performs slight worse tracking but has strong robustness. With the parallel development of the control theory and computing power, robust MPC may be the future direction.

scholarly journals Road Trauma in Regional and Remote Australia and New Zealand in Preparedness for ADAS Technologies and Autonomous Vehicles

2020 ◽  
Vol 12 (11) ◽  
pp. 4347 ◽  
Author(s):  
Sujanie Peiris ◽  
Janneke Berecki-Gisolf ◽  
Bernard Chen ◽  
Brian Fildes
Keyword(s):  
New Zealand ◽  
Urban Areas ◽  
Autonomous Vehicles ◽  
Tracking System ◽  
National Level ◽  
Vehicle Ownership ◽  
Remote Areas ◽  
Global Challenge ◽  
Geographical Variations ◽  
Vehicle Technologies

Achieving remote and rural road safety is a global challenge, exacerbated in Australia and New Zealand by expansive geographical variations and inconsistent population density. Consequently, there exists a rural-urban differential in road crash involvement in Australasia. New vehicle technologies are expected to minimise road trauma globally by performing optimally on high quality roads with predictable infrastructure. Anecdotally, however, Australasia’s regional and remote areas do not fit this profile. The aim of this study was to determine if new vehicle technologies are likely to reduce road trauma, particularly in regional and remote Australia and New Zealand. An extensive review was performed using publicly available data. Road trauma in regional and remote Australasia was found to be double that of urban regions, despite the population being approximately one third of that in urban areas. Fatalities in 100 km/h + speed zones were overrepresented, suggestive of poor speed limit settings. Despite new vehicle ownership in regional and remote Australasia being comparable to major cities, road infrastructure supportive of new vehicle technologies appear lacking, with only 1.3–42% of all Australian roads, and 67% of all New Zealand roads being fully sealed. With road quality in regional and remote areas being poorly mapped, the benefits of Advanced Driver-Assistance Systems (ADAS) technologies cannot be realised despite the fact new vehicles with these technologies are penetrating the fleet. Investments should be made into sealing and separating roads but more importantly, for mapping the road network to create a unified tracking system which quantifies readiness at a national level.

Maneuverability of Wheeled Poly-Articulated Agricultural Vehicles: Modeling and Field Testing

2021 ◽  
Vol 64 (6) ◽  
pp. 2111-2124
Author(s):  
Andrii Yatskul ◽  
Frederic Cointault ◽  
Jean-Pierre Lemiere
Keyword(s):  
Automobile Industry ◽  
Autonomous Vehicles ◽  
Field Testing ◽  
Linear Interpolation ◽  
Plant Residue ◽  
Real Field ◽  
List Type ◽  
Path Generation ◽  
Kinematic Modeling ◽  
Articulated Vehicle

HighlightsModeling provides the relationships between path, kinematics, geometry, and towed implements.Linear interpolation allows trajectories to be compared if data recording is random.Correction coefficients can be a solution to compensate for soil resistance.Abstract. Automatic guidance systems and autonomous vehicles require tested methods of path generation to ensure successful maneuvers (such as automatic trajectory correction and headland turn management). In this study, an evolution of Zakin’s kinematic modeling, as applied in the automobile industry, is proposed for an agricultural poly-articulated vehicle (representing a tractor or other type of towing vehicle with one or more towed implements attached with an articulated hitch). Geometry, vehicle ground speed, and angular steering velocity are considered in the generation of maneuvering paths. Based on the specifics of real field conditions (slope, plant residue, resistance due to soil compaction, etc.), the initial model was improved by introducing correction coefficients. An experimental setup is proposed using a tractor with two towed implements and a testing method involving point-to-point path comparison. The modeling method has potential for integrating more complex procedures (such as path generation, geolocation, and following) into the design of a maneuvering management system for agricultural machines, which can contribute to the efficiency of field operations. Keywords: Agricultural vehicle, Headland turn automation, Maneuverability, Modeling, Path generation, Path planning, Poly-articulated vehicle.

scholarly journals Continuum Dynamic Traffic Assignment Model for Autonomous Vehicles in a Polycentric Urban City with Environmental Consideration

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Bosheng Rong ◽  
Hui Zhao ◽  
Shaohua Cui ◽  
Cuiping Zhang
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Traffic Assignment ◽  
Dynamic Traffic Assignment ◽  
Travel Cost ◽  
Solution Algorithm ◽  
Dynamic Traffic ◽  
Environment Impact ◽  
Urban City ◽  
Assignment Model

This paper proposed a continuum dynamic model for autonomous vehicles in a polycentric urban city by considering the environment impact of traffic emission. The model assumes that homogeneous autonomous vehicles are continuously distributed over the urban areas which tend to choose a path to minimize their total travel cost from origin to destination. To describe the path choice behavior of travelers, we presented the continuum dynamic traffic assignment model which consists of a two-dimensional hyperbolic system of nonlinear conservation laws with source terms and an Eikonal-type equation. The elastic demand is considered using a function which associating each copy of flow with its total instantaneous travel cost. For the environmental impacts, here we consider the influence of CO emission and include the cost of emission into the actual transportation cost. A solution algorithm for the model is designed as a cell-centered finite volume method for conservation law equations and a fast sweeping method for Eikonal-type equations on unstructured grids. Numerical examples are given to demonstrate the model and the proposed solution algorithm. Further, the results of the travel cost considering CO emissions and not considering CO emissions are compared.

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