Situational Awareness Enhancement for Connected and Automated Vehicle Systems

Recent developments in the area of Connected and Automated Vehicles (CAVs) have boosted the interest in Intelligent Transportation Systems (ITSs). While ITS is intended to resolve and mitigate serious traffic issues such as passenger and pedestrian fatalities, accidents, and traffic congestion; these goals are only achievable by vehicles that are fully aware of their situation and surroundings in real-time. Therefore, connected and automated vehicle systems heavily rely on communication technologies to create a real-time map of their surrounding environment and extend their range of situational awareness. In this dissertation, we propose novel approaches to enhance situational awareness, its applications, and effective sharing of information among vehicles.;The communication technology for CAVs is known as vehicle-to-everything (V2x) communication, in which vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) have been targeted for the first round of deployment based on dedicated short-range communication (DSRC) devices for vehicles and road-side transportation infrastructures. Wireless communication among these entities creates self-organizing networks, known as Vehicular Ad-hoc Networks (VANETs). Due to the mobile, rapidly changing, and intrinsically error-prone nature of VANETs, traditional network architectures are generally unsatisfactory to address VANETs fundamental performance requirements. Therefore, we first investigate imperfections of the vehicular communication channel and propose a new modeling scheme for large-scale and small-scale components of the communication channel in dense vehicular networks. Subsequently, we introduce an innovative method for a joint modeling of the situational awareness and networking components of CAVs in a single framework. Based on these two models, we propose a novel network-aware broadcast protocol for fast broadcasting of information over multiple hops to extend the range of situational awareness. Afterward, motivated by the most common and injury-prone pedestrian crash scenarios, we extend our work by proposing an end-to-end Vehicle-to-Pedestrian (V2P) framework to provide situational awareness and hazard detection for vulnerable road users. Finally, as humans are the most spontaneous and influential entity for transportation systems, we design a learning-based driver behavior model and integrate it into our situational awareness component. Consequently, higher accuracy of situational awareness and overall system performance are achieved by exchange of more useful information

Efficient wireless location estimation through simultaneous localization and mapping

Conventional Wi-Fi location estimation techniques using radio fingerprinting typically require a lengthy initial site survey. It is suggested that the lengthy site survey is a barrier to adoption of the radio fingerprinting technique. This research investigated two methods for reducing or eliminating the site survey and instead build the radio map on-the-fly. The first approach utilized a deterministic algorithm to predict the user's location near each access point and subsequently construct a radio map of the entire area. This deterministic algorithm performed only fairly and only under limited conditions, rendering it unsuitable for most typical real-world deployments. Subsequently, a probabilistic algorithm was developed, derived from a robotic mapping technique called simultaneous localization and mapping. The standard robotic algorithm was augmented with a modified particle filter, modified motion and sensor models, and techniques for hardware-agnostic radio measurements (utilizing radio gradients and ranked radio maps). This algorithm performed favorably when compared to a standard implementation of the radio fingerprinting technique, but without needing an initial site survey. The algorithm was also reasonably robust even when the number of available access points were decreased.Ph.D.Committee Chair: Owen, Henry; Committee Member: Copeland, John; Committee Member: Giffin, Jonathon; Committee Member: Howard, Ayanna; Committee Member: Riley, Georg

Location-Enabled IoT (LE-IoT): A Survey of Positioning Techniques, Error Sources, and Mitigation

The Internet of Things (IoT) has started to empower the future of many industrial and mass-market applications. Localization techniques are becoming key to add location context to IoT data without human perception and intervention. Meanwhile, the newly-emerged Low-Power Wide-Area Network (LPWAN) technologies have advantages such as long-range, low power consumption, low cost, massive connections, and the capability for communication in both indoor and outdoor areas. These features make LPWAN signals strong candidates for mass-market localization applications. However, there are various error sources that have limited localization performance by using such IoT signals. This paper reviews the IoT localization system through the following sequence: IoT localization system review -- localization data sources -- localization algorithms -- localization error sources and mitigation -- localization performance evaluation. Compared to the related surveys, this paper has a more comprehensive and state-of-the-art review on IoT localization methods, an original review on IoT localization error sources and mitigation, an original review on IoT localization performance evaluation, and a more comprehensive review of IoT localization applications, opportunities, and challenges. Thus, this survey provides comprehensive guidance for peers who are interested in enabling localization ability in the existing IoT systems, using IoT systems for localization, or integrating IoT signals with the existing localization sensors

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

Mobility increases localizability: A survey on wireless indoor localization using inertial sensors

Wireless indoor positioning has been extensively studied for the past 2 decades and continuously attracted growing research efforts in mobile computing context. As the integration of multiple inertial sensors (e.g., accelerometer, gyroscope, and magnetometer) to nowadays smartphones in recent years, human-centric mobility sensing is emerging and coming into vogue. Mobility information, as a new dimension in addition to wireless signals, can benefit localization in a number of ways, since location and mobility are by nature related in the physical world. In this article, we survey this new trend of mobility enhancing smartphone-based indoor localization. Specifically, we first study how to measure human mobility: what types of sensors we can use and what types of mobility information we can acquire. Next, we discuss how mobility assists localization with respect to enhancing location accuracy, decreasing deployment cost, and enriching location context. Moreover, considering the quality and cost of smartphone built-in sensors, handling measurement errors is essential and accordingly investigated. Combining existing work and our own working experiences, we emphasize the principles and conduct comparative study of the mainstream technologies. Finally, we conclude this survey by addressing future research directions and opportunities in this new and largely open area.</jats:p

SLAPS: Simultaneous Localization and Phase Shift for a RIS-equipped UAV in 5G&amp;#x002F;6G Wireless Communication Networks

Unmanned aerial vehicles (UAVs) are utilized to improve the performance of wireless communication networks (WCNs). In 5G&#x002F;6G WCNs, where massive muti-input multi-output (mMIMO) base stations (BSs) are operated for beamforming to address fast fading, shadowing, and blockage issues of millimeter waves (mmWave) and quasi-optic signals, the application of UAVs as active mMIMO transceivers is questionable. This is due to the prohibitive complexity of the required overhead baseband processor. Reconfigurable intelligent surface (RIS) is a complementary technology to mMIMO BSs to address the energy inefficiency and complexity of 5G&#x002F;6G WCNs. Equipping UAVs with RISs, comprising passive elements, allows UAVs to remain promising gadgets for improving coverage and blockage issues in 5G&#x002F;6G by reflecting in the sky and providing aerial line-of-sight (ALoS) service. Particularly, RIS-equipped UAVs (RISeUAVs) can be beneficial for ALoS vehicle-to-vehicle (V2V) communication of autonomous intelligent vehicles. However, channel estimation is prohibitive in a highly dynamic environment. In this light, accurate localization makes it feasible to use geometry information for phase shift and passive beam-steering. Also, accurate localization is required for crash avoidance and safe navigation in dense urban canyons. We propose the simultaneous localization and phase shift (SLAPS) method as a mmWave-localization technique for RISeUAVs. Simulation results prove the effectiveness of the method