scholarly journals Steering bends and changing lanes: The impact of optic flow and road edges on two point steering control

2018 ◽  
Vol 18 (9) ◽  
pp. 14 ◽  
Author(s):  
Yuki Okafuji ◽  
Callum David Mole ◽  
Natasha Merat ◽  
Takanori Fukao ◽  
Yasuyoshi Yokokohji ◽  
...  
Keyword(s):  
Optic Flow ◽  
Steering Control ◽  
The Impact

scholarly journals Design of a Low-Cost Indoor Navigation System for Food Delivery Robot Based on Multi-Sensor Information Fusion

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4980 ◽  
Author(s):  
Yunlong Sun ◽  
Lianwu Guan ◽  
Zhanyuan Chang ◽  
Chuanjiang Li ◽  
Yanbin Gao
Keyword(s):  
Information Fusion ◽  
Low Cost ◽  
Wide Band ◽  
Indoor Navigation ◽  
Ultra Wide Band ◽  
Steering Control ◽  
Labor Costs ◽  
Effective Manner ◽  
The Impact ◽  
Meal Delivery

As the restaurant industry is facing labor shortage issues, the use of meal delivery robots instead of waiters/waitresses not only allows the customers to experience the impact of robot technology but also benefits the restaurant business financially by reducing labor costs. Most existing meal delivery robots employ magnetic navigation technologies, which require magnetic strip installation and changes to the restaurant decor. Once the moving path is changed, the magnetic strips need to be re-laid. This study proposes multisource information fusion, i.e., the fusion of ultra-wide band positioning technology with an odometer and a low-cost gyroscope accelerometer, to achieve the positioning of a non-rail meal delivery robot with navigation. By using a low-cost electronic compass and gyroscope accelerometer, the delivery robot can move along a fixed orbit in a flexible and cost-effective manner with steering control. Ultra-wide band (UWB) and track estimation algorithm are combined by extended Kalman filter (EKF), and the positioning error after fusion is about 15 cm, which is accepted by restaurants. In summary, the proposed approach has some potential for commercial applications.

State-Dependent Performance of Optic-Flow Processing Interneurons

2009 ◽  
Vol 102 (6) ◽  
pp. 3606-3618 ◽  
Author(s):  
Kit D. Longden ◽  
Holger G. Krapp
Keyword(s):  
Sensory Processing ◽  
Optic Flow ◽  
Visual Processing ◽  
Metabolic Cost ◽  
Sensory Stimuli ◽  
State Dependent ◽  
Directional Motion ◽  
Save Energy ◽  
Self Motion ◽  
The Impact

Active locomotive states are metabolically expensive and require efficient sensory processing both to avoid wasteful movements and to cope with an extended bandwidth of sensory stimuli. This is particularly true for flying animals because flight, as opposed to walking or resting, imposes a steplike increase in metabolism for the precise execution and control of movements. Sensory processing itself carries a significant metabolic cost, but the principles governing the adjustment of sensory processing to different locomotor states are not well understood. We use the blowfly as a model system to study the impact on visual processing of a neuromodulator, octopamine, which is known to be involved in the regulation of flight physiology. We applied an octopamine agonist and recorded the directional motion responses of identified visual interneurons known to process self-motion–induced optic flow to directional motion stimuli. The neural response range of these neurons is increased and the response latency is reduced. We also found that, due to an elevated spontaneous spike rate, the cells' negative signaling range is increased. Meanwhile, the preferred self-motion parameters the cells encode were state independent. Our results indicate that in the blowfly energetically expensive sensory coding strategies, such as rapid, large responses, and high spontaneous spike activity could be adjusted by the neuromodulator octopamine, likely to save energy during quiet locomotor states.

Development of Warning System and Driving Model for Overtaking Trucks on Two-Lane Highways

2019 ◽  
Vol 2673 (11) ◽  
pp. 1-12 ◽  
Author(s):  
Udai Hassein ◽  
Maksym Diachuk ◽  
Said Easa
Keyword(s):  
Traffic Safety ◽  
Human Error ◽  
Driving Simulator ◽  
Real Life ◽  
Warning System ◽  
Steering Control ◽  
Collision Warning ◽  
Radar Sensors ◽  
Sight Distance ◽  
The Impact

Passing collisions are one of the most serious traffic safety problems on two-lane highways. These collisions occur when a driver overestimates the available sight distance. This paper presents a framework for a passing collision warning system (PCWS) that assists drivers in avoiding passing collisions by reducing the likelihood of human error. The system uses a combination of a camera and radar sensors to identify the impeding vehicle type and to detect the opposing vehicles traveling in the left lane. The study involved the development of a steering control model providing lane-change maneuvers, the design of a driving simulator experiment that allows for the collection of data necessary to estimate passing parameters, and the elaboration of the algorithm for the PCWS based on sensor signals to detect impeding vehicles such as trucks. Simulation tests were carried out to confirm the effectiveness of the proposed PCWS algorithm. The impact of driver behavior on passing maneuvers was also investigated. Mathematical and imitation models were enhanced to implement Simulink for replications of real-life driving scenarios. The different factors that affect system accuracy were also examined.

scholarly journals The need for speed: global optic flow speed influences steering

2016 ◽  
Vol 3 (5) ◽  
pp. 160096 ◽  
Author(s):  
Georgios K. Kountouriotis ◽  
Callum D. Mole ◽  
Natasha Merat ◽  
Richard M. Wilkie
Keyword(s):  
Optic Flow ◽  
Ground Plane ◽  
Visual Fields ◽  
Flow Speed ◽  
Sufficient Information ◽  
Global Flow ◽  
Steering Control ◽  
Flow Speeds ◽  
Curved Paths ◽  
Perceptual Variable

How do animals follow demarcated paths? Different species are sensitive to optic flow and one control solution is to maintain the balance of flow symmetry across visual fields; however, it is unclear whether animals are sensitive to changes in asymmetries when steering along curved paths. Flow asymmetries can alter the global properties of flow (i.e. flow speed) which may also influence steering control. We tested humans steering curved paths in a virtual environment. The scene was manipulated so that the ground plane to either side of the demarcated path produced larger or smaller asymmetries in optic flow. Independent of asymmetries and the locomotor speed, the scene properties were altered to produce either faster or slower globally averaged flow speeds. Results showed that rather than being influenced by changes in flow asymmetry, steering responded to global flow speed. We conclude that the human brain performs global averaging of flow speed from across the scene and uses this signal as an input for steering control. This finding is surprising since the demarcated path provided sufficient information to steer, whereas global flow speed (by itself) did not. To explain these findings, existing models of steering must be modified to include a new perceptual variable: namely global optic flow speed.

scholarly journals Study on the Rut Control Threshold of Asphalt Pavement Considering Steering Stability of Autonomous Vehicles Based on Fuzzy Control Theory

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Binshuang Zheng ◽  
Xiaoming Huang ◽  
Runmin Zhao ◽  
Zhengqiang Hong ◽  
Jiaying Chen ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Control Theory ◽  
Autonomous Vehicles ◽  
Design Theory ◽  
Asphalt Pavement ◽  
Roll Angle ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
Steering Control ◽  
The Impact

To fully consider the impact of asphalt pavement rut on steering stability of autonomous vehicles, the sensitivity of various indicators of rut shape to vehicle stability was comprehensively measured, and pavement rut control standards based on comfort demands of autonomous vehicles were investigated. Firstly, a steering control system for autonomous vehicles was built in Simulink according to fuzzy control theory. Then, through orthogonal experiment design theory, different rut shape indicators are simulated in CarSim. The influence sensitivity of different rut shape indicators and the allowable rut range considering driving comfort were studied. The results show that both the rut depth and the rut side angle have a greater effect on the vehicle vertical acceleration within a certain parameter range. The maximum roll angle of vehicle body is mainly affected by the rut depth, and the rut width has a small effect on the vehicle driving stability. Meanwhile, considering human comfort, the rut side angle should not be greater than 1° when the rut depth reaches 2 cm. For autonomous driving, the rut depth should not exceed 2.5 cm. When the rut depth exceeds 2.5 cm, the vehicle body roll angle caused by the rut exceeds the inertial centrifugal force of the vehicle itself, which has a significant impact on the passenger comfort and safety.

Vehicle steering control under the impact of low-speed tire characteristics

2006 ◽  
Author(s):  
Shiang-Lung Koo ◽  
Fanping Bu ◽  
Han-Shue Tan ◽  
M. Tomizuka
Keyword(s):  
Steering Control ◽  
Low Speed ◽  
The Impact

A Design of Autopilot Based on the Feedback Linearization Optimal Heading Control Algorithm

2019 ◽  
Vol 12 (1) ◽  
pp. 133-148
Author(s):  
Zhipeng Sun ◽  
Qin Wu ◽  
Xiaogang Li ◽  
Hongbo Wang
Keyword(s):  
Feedback Linearization ◽  
Control Algorithm ◽  
Control Unit ◽  
Physical Situation ◽  
Steering Control ◽  
A Algorithm ◽  
Operation Speed ◽  
Heading Control ◽  
The Impact ◽  
Rudder Angle

This article designs a heading control autopilot which contains three parts: a control and display unit (CDU); a steering control unit (SCU) and a algorithm control unit (ACU), adopting the feedback linearization optimal control algorithm in the ACU. The characteristic of this algorithm is that it combines the nonlinear disturbance existing in the ship motion and the ship's feedback rudder angle into a new rudder angle, so that the impact disturbance could be eliminated. This autopilot has completed closed-loop experiments in the lab under the semi-physical situation. According to the test results, the autopilot hardware circuit has high stability, as well as fast operation speed. The control algorithm has the merits of a lower steering number and strong anti-jamming capability.

scholarly journals Getting Back Into the Loop: The Perceptual-Motor Determinants of Successful Transitions out of Automated Driving

2019 ◽  
Vol 61 (7) ◽  
pp. 1037-1065 ◽  
Author(s):  
Callum D. Mole ◽  
Otto Lappi ◽  
Oscar Giles ◽  
Gustav Markkula ◽  
Franck Mars ◽  
...  
Keyword(s):  
Motor Coordination ◽  
Reaction Times ◽  
Manual Control ◽  
Future Research ◽  
Steering Control ◽  
Automated Driving ◽  
Motor Behaviors ◽  
Human Driver ◽  
Active Feedback ◽  
The Impact

Objective: To present a structured, narrative review highlighting research into human perceptual-motor coordination that can be applied to automated vehicle (AV)–human transitions. Background: Manual control of vehicles is made possible by the coordination of perceptual-motor behaviors (gaze and steering actions), where active feedback loops enable drivers to respond rapidly to ever-changing environments. AVs will change the nature of driving to periods of monitoring followed by the human driver taking over manual control. The impact of this change is currently poorly understood. Method: We outline an explanatory framework for understanding control transitions based on models of human steering control. This framework can be summarized as a perceptual-motor loop that requires (a) calibration and (b) gaze and steering coordination. A review of the current experimental literature on transitions is presented in the light of this framework. Results: The success of transitions are often measured using reaction times, however, the perceptual-motor mechanisms underpinning steering quality remain relatively unexplored. Conclusion: Modeling the coordination of gaze and steering and the calibration of perceptual-motor control will be crucial to ensure safe and successful transitions out of automated driving. Application: This conclusion poses a challenge for future research on AV-human transitions. Future studies need to provide an understanding of human behavior that will be sufficient to capture the essential characteristics of drivers reengaging control of their vehicle. The proposed framework can provide a guide for investigating specific components of human control of steering and potential routes to improving manual control recovery.

scholarly journals Stereoscopic Three-dimensional Optic Flow Distortions Caused by Mismatches Between Image Acquisition and Display Parameters

2019 ◽  
Vol 63 (6) ◽  
pp. 60412-1-60412-7 ◽  
Author(s):  
Alex D. Hwang ◽  
Eli Peli
Keyword(s):  
Optic Flow ◽  
Image Acquisition ◽  
Three Dimensional ◽  
Depth Range ◽  
Flow Distortion ◽  
Visually Induced Motion Sickness ◽  
Depth Distortion ◽  
Induced Motion ◽  
The Impact ◽  
Moving Speed

Abstract We analyzed the impact of common stereoscopic three-dimensional (S3D) depth distortion on S3D optic flow in virtual reality environments. The depth distortion is introduced by mismatches between the image acquisition and display parameters. The results show that such S3D distortions induce large S3D optic flow distortions and may even induce partial/full optic flow reversal within a certain depth range, depending on the viewer’s moving speed and the magnitude of S3D distortion. We hypothesize that the S3D optic flow distortion may be a source of intra-sensory conflict that could be a source of visually induced motion sickness.

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