Infrastructure Wi-Fi for connected autonomous vehicle positioning : a review of the state-of-the-art

In order to realize intelligent vehicular transport networks and self driving cars, connected autonomous vehicles (CAVs) are required to be able to estimate their position to the nearest centimeter. Traditional positioning in CAVs is realized by using a global navigation satellite system (GNSS) such as global positioning system (GPS) or by fusing weighted location parameters from a GNSS with an inertial navigation systems (INSs). In urban environments where Wi-Fi coverage is ubiquitous and GNSS signals experience signal blockage, multipath or non line-of-sight (NLOS) propagation, enterprise or carrier-grade Wi-Fi networks can be opportunistically used for localization or “fused” with GNSS to improve the localization accuracy and precision. While GNSS-free localization systems are in the literature, a survey of vehicle localization from the perspective of a Wi-Fi anchor/infrastructure is limited. Consequently, this review seeks to investigate recent technological advances relating to positioning techniques between an ego vehicle and a vehicular network infrastructure. Also discussed in this paper is an analysis of the location accuracy, complexity and applicability of surveyed literature with respect to intelligent transportation system requirements for CAVs. It is envisaged that hybrid vehicular localization systems will enable pervasive localization services for CAVs as they travel through urban canyons, dense foliage or multi-story car parks

Positioning Accuracy Improvement via Distributed Location Estimate in Cooperative Vehicular Networks

The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential to enable these applications. In this study, motivated by the proliferation of the Global Positioning System (GPS) devices, and the increasing sophistication of wireless communication technologies in vehicular networks, we propose a distributed location estimate algorithm to improve the positioning accuracy via cooperative inter-vehicle distance measurement. In particular, we compute the inter-vehicle distance based on raw GPS pseudorange measurements, instead of depending on traditional radio-based ranging techniques, which usually either suffer from high hardware cost or have inadequate positioning accuracy. In addition, we improve the estimation of the vehicles' locations only based on the inaccurate GPS fixes, without using any anchors with known exact locations. The algorithm is decentralized, which enhances its practicability in highly dynamic vehicular networks. We have developed a simulation model to evaluate the performance of the proposed algorithm, and the results demonstrate that the algorithm can significantly improve the positioning accuracy.Comment: To appear in Proc. of the 15th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC'12

Automated highway systems : platoons of vehicles viewed as a multiagent system

Tableau d'honneur de la Faculté des études supérieures et postdoctorales, 2005-2006La conduite collaborative est un domaine lié aux systèmes de transport intelligents, qui utilise les communications pour guider de façon autonome des véhicules coopératifs sur une autoroute automatisée. Depuis les dernières années, différentes architectures de véhicules automatisés ont été proposées, mais la plupart d’entre elles n’ont pas, ou presque pas, attaqué le problème de communication inter véhicules. À l’intérieur de ce mémoire, nous nous attaquons au problème de la conduite collaborative en utilisant un peloton de voitures conduites par des agents logiciels plus ou moins autonomes, interagissant dans un même environnement multi-agents: une autoroute automatisée. Pour ce faire, nous proposons une architecture hiérarchique d’agents conducteurs de voitures, se basant sur trois couches (couche de guidance, couche de management et couche de contrôle du trafic). Cette architecture peut être utilisée pour développer un peloton centralisé, où un agent conducteur de tête coordonne les autres avec des règles strictes, et un peloton décentralisé, où le peloton est vu comme une équipe d’agents conducteurs ayant le même niveau d’autonomie et essayant de maintenir le peloton stable.Collaborative driving is a growing domain of Intelligent Transportation Systems (ITS) that makes use of communications to autonomously guide cooperative vehicles on an Automated Highway System (AHS). For the past decade, different architectures of automated vehicles have been proposed, but most of them did not or barely addressed the inter-vehicle communication problem. In this thesis, we address the collaborative driving problem by using a platoon of cars driven by more or less autonomous software agents interacting in a Multiagent System (MAS) environment: the automated highway. To achieve this, we propose a hierarchical driving agent architecture based on three layers (guidance layer, management layer and traffic control layer). This architecture can be used to develop centralized platoons, where the driving agent of the head vehicle coordinates other driving agents by applying strict rules, and decentralized platoons, where the platoon is considered as a team of driving agents with a similar degree of autonomy, trying to maintain a stable platoon

LEDs assisted navigation in connected cars

Dissertação de natureza científica para obtenção do grau de Mestre em Engenharia Eletrónica e TelecomunicaçõesAlternative wireless technologies are needed due to the increasing traffic demand and the shortage of RF band. VLC uses the visible light spectrum to encode and transmit information and is a complement to RF, providing additional bandwidth. Traffic lights are the main infrastructures to control access to roads and will soon be replaced by more efficient structures to improve traffic management. The goal of this dissertation is the characterization and test of communication links based on VLC technology for road management applications. Transmitters of the VLC link are tetrachromatic white LEDs used for illumination and data transmission. The characterization of the optical transmitter system is done through MATLAB simulations, using the Lambertian model. Receivers based on a-SiC:H/a-Si:H photodiodes with selective spectral sensitivity are used to. The studied scenario is a crossroad formed by five cells, with a LED at each corner providing a certain coverage and forming nine footprints. The OOK modulation was used, and the transmitted message follows a 64-bit frame structure. The coverage map and footprint map were obtained as outputs. A calibration curve was used in the encoding and decoding process. Two trajectories were tested: vehicle moving from West to East and from West to North. The encoded process was successful, proving that the simulation tool developed produces valid results. The decoding process was successful with the simulated results but not so much with the signals measured in the laboratory. The red LED/channel presented the least error followed by the green, since these are more distinguishable. The blue and violet LED/channel are less distinguishable and presented the most errors. Adjusting the calibration curve or implementing error detection mechanism are proposed as solutions. A GUI was developed to enable easy interaction between the user and the simulation tool.Devido ao aumento da procura de tráfego e diminuição da banda RF disponível são necessárias tecnologias sem fios alternativas. O VLC utiliza o espetro visível para codificar e transmitir informação, sendo um complemento ao RF fornecendo largura de banda adicional. Os semáforos são as principais infraestruturas de controlo de acesso às estradas e serão eventualmente substituídas por estruturas mais eficiente para melhorar a gestão do trânsito. O objetivo desta dissertação é a caracterização e teste da comunicação utilizando a tecnologia VLC em aplicações de gestão rodoviária. Os transmissores usados para iluminação e comunicação são LEDs tetra-cromáticos. A caracterização do transmissor ótico foi realizada em MATLAB usando o modelo Lambertiano. O recetor utilizado é um foto-detetor baseado em estruturas pin de a-SiC:H e a-Si:H que apresentam sensibilidade espectral seletiva. O cenário estudado é um cruzamento formado por cinco células, com um LED em cada canto, proporcionando uma cobertura específica e formando em conjunto nove footprints. Foi usada a modulação OOK e a mensagem enviada utiliza uma estrutura de 64 bits. Como resultados, foram obtidos mapas de cobertura e de footprints. A curva de calibração foi usada para o processo de codificação e descodificação. Foram testadas duas trajetórias: veículos provenientes de Oeste para Este e de Oeste para Norte. O processo de codificação foi bem-sucedido, mostrando que a ferramenta de simulação desenvolvida produz resultados válidos. O processo de descodificação foi bem-sucedido para os resultados simulados, mas apresenta erros para as medidas laboratoriais. O LED/canal vermelho apresentou menos erros, seguido do verde pois estes são mais distinguíveis. O azul e o violeta são menos distinguíveis, apresentando mais erros. As soluções propostas são ajustar a curva de calibração ou implementar de mecanismos de deteção de erros. Foi desenvolvida uma interface gráfica para facilitar a interação entre utilizador e ferramenta de simulação.info:eu-repo/semantics/publishedVersio