In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles. Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.
Table Of Contents
Introduction - Background in Autonomy in Cars. Components of Autonomy. Notes on Historical Development. Contents of This Book. ; The Role of Control in Autonomous Systems - Feedback. A First Look at Autonomous Control. ; System Architecture and Hybrid System Modeling - System Architecture. Hybrid System Formulation. State Machines for Different Challenge Events. ; Sensors, Estimation, and Sensor Fusion - Sensor Characteristics. Vehicle Internal State Sensing. External World Sensing. Estimation. Sensor Fusion. Situational Awareness. ; Examples of Autonomy - Cruise Control. Antilock-Brake Systems. Steering Control and Lane Following. Parking. ; Maps and Path Planning - Map Databases. Path Planning. ; Vehicle-to-Vehicle and Vehicle-to-Infrastructure Communication -Introduction. Vehicle-to-Vehicle Communication (V2V). Vehicle-to-Infrastructure Communication (V2I). Communication Technologies. 802.11p/WAVE DSRC Architecture and U.S./EU Standards. Potential Applications in an Autonomous Vehicle. ; Conclusions - Some Related Problems. And the Beat Goes On. ; Appendix. About the Authors. Index ;