Research on Integrated Positioning and Active Safety of Intelligent Vehicles

  • 林 景富

Student thesis: Doctoral Thesis

Abstract

Addressed on the studies of intelligent vehicle safety driving system (IVSDS) several advanced driver assistance systems (ADAS) have been recently developed for better convenience and safety These ADASs can be normally separated into active and passive safety systems The former includes blind spot detection lane departure warning forward collision warning adaptive cruise control and adaptive headlights and the latter contains seat belts car airbags and vehicle body structures Advanced driver assisted vehicles employ highly accurate/reliable positioning and stable/real-time vehicle communication system to assist the drivers to control the vehicle traveling at specific driving situations to guarantee safety GPS has become one of the most crucial navigation systems However GPS cannot provide an uninterrupted positioning solution when the vehicle drives in areas such as urban canyons or tunnels because the system suffers from signal blockage and multipath efforts In order to deal with these problems GPS/Inertial Navigation System (INS) integrated navigation technique has become the main direction to facilitate a continuous positioning solution Moreover stable and real-time vehicular dedicated short-range communication (DSRC) is an important index for IVSDS The improvement of the stability and reliability will prompt the development of intelligent vehicles further based on the real-time information exchanged by vehicle-to-vehicle (V2V) or vehicle-to-infrastructure (V2I) The contributions of this dissertation address on vehicular DSRC satellite navigation and inertial sensing to explore the research of integrated positioning and active collision avoidance system (CAS) Firstly this dissertation performs the analysis and study of the current specifications for the DSRC system According to the discussion on a vehicular control system the results are planned for the basis of the DSRC applications Furthermore the safety driving system needs accurate and reliable speed and heading angle data for vehicle controls However the heading angles derived based on GPS position information are sometimes misleading especially when the vehicle speed is low This dissertation proposes the use of the sensor fusion approach to address the issue An adaptive two-stage filter is proposed to provide the benefits of simple implementation cost-effectiveness ease-of-tuning and performance assurance Based on the integrated positioning system and the DSRC system the study further investigates active CAS For active safety requirements of the automatic driving this dissertation develops a hierarchical structure to facilitate the integration of different types characteristics accuracy of sensing data in combination with the vehicle dynamics and environment model This research uses collision avoidance control and overtaking control of automatic driving as examples for detailed design simulation and performance assessment
Date of Award2014 Dec 11
Original languageEnglish
SupervisorJyh-Chin Juang (Supervisor)

Cite this

Research on Integrated Positioning and Active Safety of Intelligent Vehicles
景富, 林. (Author). 2014 Dec 11

Student thesis: Doctoral Thesis