Estimation And Tracking Algorithm For Autonomous Vehicles And Humans

Autonomous driving systems have experienced impressive growth in recent years. The present research community is working on several challenging aspects, such as, tracking, localization, path planning and control. In this thesis, first, we focus on tracking system and present a method to accurately track a moving vehicle. In the vehicle tracking, considering the proximity of surrounding vehicles, it is critical to detect their unusual maneuvers as quickly as possible, especially when autonomous vehicles operate among human-operated traffic. In this work, we present an approach to quickly detect lane-changing maneuvers of the nearby vehicles. The proposed algorithm is based on the optimal likelihood ratio test, known as Page test. Second, we consider another form of tracking: tracking the movements of humans in indoor settings. Indoor localization of staff and patients based on radio frequency identification (RFID) technology has promising potential application in the healthcare sector. The use of an active RFID in real-time indoor positioning system without any sacrifice of localization accuracy is intended to provide security, guidance and support service to patients. In this paper maximum likelihood estimation along with its Cramer-Rao lower bound of the locations of active RFID tags are presented by exploring the received signal strength indicator which is collected at the readers. The performance of real-time localization system is implemented by using an extended Kalman filter (EKF)

Adaptive Indoor Pedestrian Tracking Using Foot-Mounted Miniature Inertial Sensor

This dissertation introduces a positioning system for measuring and tracking the momentary location of a pedestrian, regardless of the environmental variations. This report proposed a 6-DOF (degrees of freedom) foot-mounted miniature inertial sensor for indoor localization which has been tested with simulated and real-world data. To estimate the orientation, velocity and position of a pedestrian we describe and implement a Kalman filter (KF) based framework, a zero-velocity updates (ZUPTs) methodology, as well as, a zero-velocity (ZV) detection algorithm. The novel approach presented in this dissertation uses the interactive multiple model (IMM) filter in order to determine the exact state of pedestrian with changing dynamics. This work evaluates the performance of the proposed method in two different ways: At first a vehicle traveling in a straight line is simulated using commonly used kinematic motion models in the area of tracking (constant velocity (CV), constant acceleration (CA) and coordinated turn (CT) models) which demonstrates accurate state estimation of targets with changing dynamics is achieved through the use of multiple model filter models. We conclude by proposing an interactive multiple model estimator based adaptive indoor pedestrian tracking system for handling dynamic motion which can incorporate different motion types (walking, running, sprinting and ladder climbing) whose threshold is determined individually and IMM adjusts itself adaptively to correct the change in motion models. Results indicate that the overall IMM performance will at all times be similar to the best individual filter model within the IMM

Integrated Special Event Traffic Management Strategies in Urban Transportation Network

How to effectively optimize and control spreading traffic in urban network during the special event has emerged as one of the critical issues faced by many transportation professionals in the past several decades due to the surging demand and the often limited network capacity. The contribution of this dissertation is to develop a set of integrated mathematical programming models for unconventional traffic management of special events in urban transportation network. Traffic management strategies such as lane reorganization and reversal, turning restriction, lane-based signal timing, ramp closure, and uninterrupted flow intersection will be coordinated and concurrently optimized for best overall system performance. Considering the complexity of the proposed formulations and the concerns of computing efficiency, this study has also developed efficient solution heuristics that can yield sufficiently reliable solutions for real-world application. Case studies and extensive numerical analyses results validate the effectiveness and applicability of the proposed models

Environmental Sensor Systems for Safe Traffic Operations

DTFH61-92-C-00012This report provides the results of a detailed investigation of environmental sensors and their applicability in highway operations. It describes the functional requirements for a weather condition detection device to be applied to the roadway infrastructure based upon current guidelines of various state and federal agencies. The report also analyzes the results of a year-long series of field tests of visibility sensors. A group of one mobile and five stationary sensors were examined to determine the applicability of the data reported by these devices. Among the areas of focus was the accuracy of the reported visibility to the actual conditions, time to respond to visibility changes, and the robustness of the systems. The results of the test appear to indicate that these devices have definite possibilities for future deployment, particularly in conjunction with ITS technologies

Road Trippin\u27: Twentieth-Century American Road Narratives from \u3cem\u3eOn The Road\u3c/em\u3e to \u3cem\u3eThe Road\u3c/em\u3e

Road Trippin:’ Twentieth-Century American Road Narratives and Petrocultures from On The Road to The Road examines late-twentieth century U.S. road narratives in an effort to trace the development of American petrocultures geographically and culturally in the decades after World War II. The highway stories that gain popularity throughout the era trace not simply how Americans utilize oil, but how the postwar American oil ethos in literature, film, and music acts upon and shapes human interiority and vice versa. Roads and highways frame my critique because they are at once networks of commerce transportation and producers of a unique, romantic national mythos that impacts American literary and extra-literary textuality throughout the late-twentieth century. My methodology draws on literary, environmental, and material culture studies, but rather than dwell on the substance itself, the project traces oil’s presence in the aesthetic stuff of our lives: the novels, films, television shows, popular songs, and memoirs that structure conceptions of individualism, freedom, mobility, race, gender, and sexuality. In doing so, I rely heavily upon interdisciplinary lenses derived from literary, film, and affect theories. Petroaffect, or the ways in which oil and oil culture shape and reshape human interiority, reveals how people are in a sense manufactured by oil as psychological or even spiritual beings. Tracing petroculture’s trajectory throughout late-twentieth century road narratives —road novels, outlaw trucker movies, popular music, memoir, and apocalyptic fictions—demonstrates that oil’s material, ideological, and environmental effects and affects are vital to the formation of the petromodern American

Spartan Daily, November 9, 1983

Volume 81, Issue 51https://scholarworks.sjsu.edu/spartandaily/7100/thumbnail.jp

The Effects and Efficacy of Large-Scale Motorway Development: A Case Study of Wellington, New Zealand

Large-scale motorway development is a common response to traffic issues such as congestion and inconsistent trip times. It is a tool used to alleviate these pressures, which are commonly caused by increasing urban populations and changing urban form. Although best practice motorway development should occur pre-emptively to address these issues, it often occurs instead as a reaction to these effects. Poor motorway planning can have a wide range of adverse effects such as congestion, changes in land use, and an impact on people's wellbeing. This research addressed large-scale motorway development in the case study of Wellington, New Zealand. A number of key drivers of motorway development, such as congestion and growth, are present in the Wellington Region. The Wellington Smart Motorway and Kapiti Expressway have also recently opened, and Transmission Gully is still in the construction phase. To determine the value of large-scale motorway development the research addressed three research objectives: to investigate current international approaches; to establish and identify the main effects of large-scale motorway development; and to evaluate the efficacy of large-scale motorway development. The research found that large-scale motorway development can be used to address the effects and impacts of increased vehicle usage. A range of positive impacts were identified, including improved safety, increased road capacity, minimised congestion and improved free-flow speed. Conversely, negative impacts of large-scale motorway development in New Zealand included impacts on urban form, adverse effects for the receiving environment, and impacts on the road user. It was concluded that large-scale motorway development is an effective tool for managing the effects and impacts of increased vehicle usage. Further, the research is valuable for the NZTA, MoT, GWRC, WCC, PCC and KCDC due to their role as key stakeholders. The research will assist them in making better decisions in the future regarding large-scale motorway development