The Experts below are selected from a list of 24684 Experts worldwide ranked by ideXlab platform
D. Tran - One of the best experts on this subject based on the ideXlab platform.
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testing modeling and control of a fuel cell hybrid Vehicle
American Control Conference, 2005Co-Authors: Min Joong Kim, Chanchiao Lin, E Stamos, Huei Peng, D. TranAbstract:A comprehensive procedure for testing, modeling, and control design of a fuel cell hybrid Vehicle (FCHV) is presented in this paper. The subsystems are modeled based on lab testing and in-field Vehicle testing results from the DaimlerChrysler Natrium Prototype Vehicle. An FC-VESIM (fuel cell hybrid Vehicle simulation) model is then developed based on the experimental data. The power management control algorithm for the FCHV is subsequently developed based on the stochastic dynamic programming (SDP) technique, which produces an optimal policy for a given probability distribution of the Vehicle power demand.
Min Joong Kim - One of the best experts on this subject based on the ideXlab platform.
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testing modeling and control of a fuel cell hybrid Vehicle
American Control Conference, 2005Co-Authors: Min Joong Kim, Chanchiao Lin, E Stamos, Huei Peng, D. TranAbstract:A comprehensive procedure for testing, modeling, and control design of a fuel cell hybrid Vehicle (FCHV) is presented in this paper. The subsystems are modeled based on lab testing and in-field Vehicle testing results from the DaimlerChrysler Natrium Prototype Vehicle. An FC-VESIM (fuel cell hybrid Vehicle simulation) model is then developed based on the experimental data. The power management control algorithm for the FCHV is subsequently developed based on the stochastic dynamic programming (SDP) technique, which produces an optimal policy for a given probability distribution of the Vehicle power demand.
Miguel Angel Sotelo - One of the best experts on this subject based on the ideXlab platform.
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A color vision-based lane tracking system for autonomous driving on unmarked roads
Autonomous Robots, 2004Co-Authors: Miguel Angel Sotelo, Luis Magdalena, Luis Miguel Bergasa, Francisco Javier Rodríguez, Luciano BoqueteAbstract:c This work describes a color Vision-based System intended to\nperform stable autonomous driving on unmarked roads.\nAccordingly, this implies the development of an accurate road\nsurface detection system that ensures Vehicle stability.\nAlthough this topic has already been documented in the\ntechnical literature by different research groups, the vast\nmajority of the already existing Intelligent Transportation\nSystems are devoted to assisted driving of Vehicles on marked\nextra urban roads and highways. The complete system was tested\non the BABIECA Prototype Vehicle, which was autonomously\ndriven for hundred of kilometers accomplishing different\nnavigation missions on a private circuit that emulates an\nurban quarter. During the tests, the navigation system\ndemonstrated its robustness with regard to shadows, road\ntexture, and weather and changing illumination conditions.
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VIRTUOUS: vision-based road transportation for unmanned operation on urban-like scenarios
IEEE Transactions on Intelligent Transportation Systems, 2004Co-Authors: Miguel Angel Sotelo, Francisco Rodríguez, Luis MagdalenaAbstract:This work presents an intelligent transportation system (ITS) that was implemented on an autonomous Vehicle designed to perform global navigation missions on a network of unmarked roads. This is the first step toward the complete implementation of ITS in urban environments, which is the long-term goal of this work. Using a global positioning system, global navigation is achieved by means of a global planner and a task manager that recurrently coordinate the execution of vision-based perception tasks for the road tracking of nonstructured roads and the navigation of intersections. In addition, a vision-based Vehicle-detection task has been developed, which endows the global navigation system with a reactive capacity. The complete system has been tested on the BABIECA Prototype Vehicle, which was autonomously driven for hundreds of kilometers around a private circuit, designed to emulate an urban quarter, at speeds of up to 50 km/h, successfully carrying out different navigation missions. During the tests, the Vehicle drove itself across crossroads and performed the appropriate turning maneuvers at intersections. It also demonstrated its robustness with regard to shadows, road texture, weather conditions, and changing illumination.
Luis Magdalena - One of the best experts on this subject based on the ideXlab platform.
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A color vision-based lane tracking system for autonomous driving on unmarked roads
Autonomous Robots, 2004Co-Authors: Miguel Angel Sotelo, Luis Magdalena, Luis Miguel Bergasa, Francisco Javier Rodríguez, Luciano BoqueteAbstract:c This work describes a color Vision-based System intended to\nperform stable autonomous driving on unmarked roads.\nAccordingly, this implies the development of an accurate road\nsurface detection system that ensures Vehicle stability.\nAlthough this topic has already been documented in the\ntechnical literature by different research groups, the vast\nmajority of the already existing Intelligent Transportation\nSystems are devoted to assisted driving of Vehicles on marked\nextra urban roads and highways. The complete system was tested\non the BABIECA Prototype Vehicle, which was autonomously\ndriven for hundred of kilometers accomplishing different\nnavigation missions on a private circuit that emulates an\nurban quarter. During the tests, the navigation system\ndemonstrated its robustness with regard to shadows, road\ntexture, and weather and changing illumination conditions.
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VIRTUOUS: vision-based road transportation for unmanned operation on urban-like scenarios
IEEE Transactions on Intelligent Transportation Systems, 2004Co-Authors: Miguel Angel Sotelo, Francisco Rodríguez, Luis MagdalenaAbstract:This work presents an intelligent transportation system (ITS) that was implemented on an autonomous Vehicle designed to perform global navigation missions on a network of unmarked roads. This is the first step toward the complete implementation of ITS in urban environments, which is the long-term goal of this work. Using a global positioning system, global navigation is achieved by means of a global planner and a task manager that recurrently coordinate the execution of vision-based perception tasks for the road tracking of nonstructured roads and the navigation of intersections. In addition, a vision-based Vehicle-detection task has been developed, which endows the global navigation system with a reactive capacity. The complete system has been tested on the BABIECA Prototype Vehicle, which was autonomously driven for hundreds of kilometers around a private circuit, designed to emulate an urban quarter, at speeds of up to 50 km/h, successfully carrying out different navigation missions. During the tests, the Vehicle drove itself across crossroads and performed the appropriate turning maneuvers at intersections. It also demonstrated its robustness with regard to shadows, road texture, weather conditions, and changing illumination.
Said Mammar - One of the best experts on this subject based on the ideXlab platform.
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Automatic Parallel Parking in Tiny Spots: Path Planning and Control
IEEE Intelligent Transportation Systems Magazine, 2015Co-Authors: Hélène Vorobieva, Nicoleta Minoiu-enache, Sébastien Glaser, Said MammarAbstract:This paper presents automatic parallel parking for a passenger Vehicle, with highlights on a path-planning method and on experimental results. The path-planning method consists of two parts. First, the kinematic model of the Vehicle, with corresponding geometry, is used to create a path to park the Vehicle in one or more maneuvers if the spot is very narrow. This path is constituted of circle arcs. Second, this path is transformed into a continuous-curvature path using clothoid curves. To execute the generated path, control inputs for steering angle and longitudinal velocity depending on the traveled distance are generated. Therefore, the traveled distance and the Vehicle pose during a parking maneuver are estimated. Finally, the parking performance is tested on a Prototype Vehicle.
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driver steering assistance for lane departure avoidance based on hybrid automata and composite lyapunov function
IEEE Transactions on Intelligent Transportation Systems, 2010Co-Authors: N M Enache, Said Mammar, Mariana Netto, Benoit LusettiAbstract:This paper presents the design and the practical implementation of Vehicle steering assistance that helps the driver avoid unintended lane departure. A switching strategy is built to govern the driver-assistance interaction, and the resulting hybrid system is formalized as an input/output (I/O) hybrid automaton. Composite Lyapunov functions, polyhedral-like invariant sets, and linear matrix inequality (LMI) methods constitute the heart of the approach used to design the lane-departure avoidance (LDA) system. The practical implementation of this steering assistance in a Prototype Vehicle confirms the effectiveness of this approach.
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Road Slope and Vehicle Dynamics Estimation
2008Co-Authors: Yazid Sebsadji, Sébastien Glaser, Said Mammar, Jamil DakhlallahAbstract:Driving safely can be achieved by the prevention of risky situations which may require the knowledge of Vehicle dynamic state as well as road geometry. It is thus essential to have in real-time a good estimation of the related variables and parameters. Among the parameters of the road that are influencing Vehicle longitudinal motion one can find the slope which can not be measured with reduced cost sensor. Vehicle lateral motion is mainly affected by the value of the lateral speed which can not simply measured too. In this paper, an observer based method for the estimation of the Vehicle dynamics using a nonlinear Vehicle model is proposed. It uses a combination of Extended Kalman filter (EKF) and Luenberger Observer (LO). The observers use several standard measurements such as : the yaw rate, the steering angle and the rotational velocity of the four tires. Experimental tests conducted with a Prototype Vehicle prove the effectiveness of the proposed approach.
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Time to line crossing for lane departure avoidance : a theoretical study and an experimental setting
IEEE Transactions Intelligent Transportation Systems, 2006Co-Authors: Said Mammar, S. Glaser, M. NettoAbstract:The main goal of this paper is to develop a distance to line crossing (DLC) based computation of time to line crossing (TLC). Different computation methods with increasing complexity are provided. A discussion develops the influence of assumptions generally assumed for approximation. A sensitivity analysis with respect to the Vehicle parameters and positioning is performed. For TLC computation, both straight and curved Vehicle paths are considered. The road curvature being another important variable considered in the proposed computations, an observer for its estimation is then proposed. An evaluation over a digitalized test track is first performed. Real data is then collected through an experiment carried out in test tracks with our equipped Prototype Vehicle. Based on these real data, the TLC is then computed with the theoretical proposed methods. Obtained results outlined the necessity to take into consideration Vehicle dynamics in order to use the TLC as a lane departure indicator.
