Keith Redmill

Bio: Keith Redmill is an academic researcher from Ohio State University. The author has contributed to research in topics: Intelligent transportation system & Computer science. The author has an hindex of 24, co-authored 108 publications receiving 2104 citations. Previous affiliations of Keith Redmill include Center for Automotive Research.

Automated lane change controller design

Abstract: The primary focus of study in this paper is the background control theory for automated lane change maneuvers. We provide an analytic approach for the systematic development of controllers that will cause an autonomous vehicle to accomplish a smooth lane change suitable for use in an Automated Highway System. The design is motivated by the discontinuous availability of valid preview data from the sensing systems during lane-to-lane transitions. The task is accomplished by the generation of a virtual yaw reference and the utilization of a robust switching controller to generate steering commands that cause the vehicle to track that reference. In this way, the open loop lane change problem is converted into an equivalent virtual reference trajectory tracking problem. The approach considers optimality in elapsed time at an operating longitudinal velocity. Although the analysis is performed assuming that the road is straight, the generalization of the proposed algorithm to arbitrary road segments is rather straightforward. The outlined lane change algorithm has been implemented and tested on The Ohio State University test vehicles. Some of the experimental results are presented at the conclusion of this paper.

Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey

Abstract: Intelligence in vehicles has developed through the years as self-driving expectations and capabilities have increased. To date, the majority of the literature has focused on longitudinal control topics (e.g. Adaptive Cruise Control (ACC), Cooperative ACC (CACC), etc.). To a lesser extent, there have been a variety of research articles specifically dealing with lateral control, e.g., maneuvers such as lane changes and merging. This paper provides a survey of this particular area of vehicle automation. The key topics addressed are control systems, positioning systems, communication systems, simulation modeling, field tests, surroundings vehicles, and human factors. Overall, there has been some successful research and field testing in lane change and merge maneuvers; however, there is a strong need for standardization and even more research to enable comprehensive field testing of these lateral maneuvers, so that commercial implementation of automated vehicles can be realized.

Systems for Safety and Autonomous Behavior in Cars: The DARPA Grand Challenge Experience

Abstract: In this paper, we review technologies for autonomous ground vehicles and their present capabilities in research and in the automotive market. We outline technology requirements for enhanced functions and for infrastructure development. Since the recent Grand Challenge competition is a major force to advance technology in this field, we specifically refer to our experiences in developing a participating vehicle. We present a multisensor platform that has been proven in an off-road environment. It combines different sensing modalities that inherently yield uncertain information. Finite-state machines are formulated to generate rule-based autonomous behavior that enables fully autonomous off-road driving. Overall, the intent of the paper is to evaluate approaches and technologies used in the two Grand Challenges as they contribute to the needs of autonomous cars on the road

Systems for Safety and Autonomous Behavior in Cars: The DARPA Grand Challenge Experience Car safety systems are helping drivers to stay in their lanes, improving their night vision and are making driving decisions where millisecond response is needed.

Abstract: In this paper, we review technologies for auto- nomous ground vehicles and their present capabilities in research and in the automotive market. We outline technology requirements for enhanced functions and for infrastructure development. Since the recent Grand Challenge competition is a major force to advance technology in this field, we specifically refer to our experiences in developing a partici- pating vehicle. We present a multisensor platform that has been proven in an off-road environment. It combines different sensing modalities that inherently yield uncertain information. Finite-state machines are formulated to generate rule-based autonomous behavior that enables fully autonomous off-road driving. Overall, the intent of the paper is to evaluate approaches and technologies used in the two Grand Chal- lenges as they contribute to the needs of autonomous cars on the road.

Autonomous Ground Vehicles

Abstract: This book describes how vehicles will be designed with the ability of providing drivers with many advanced safety and performance assistance features in the near future. Autonomous technology applied to ground vehicles will provide capabilities such as intersection collision warning, safe lane changing and merge warning and assistance, lane departure warning and correction, parking assistance, and active advanced cruise control and forward collision avoidance. Fully autonomous vehicles are likely to follow with capabilities for route planning, self-driving, and safely interacting with other vehicles and complex traffic scenarios. The book focuses on providing professionals with a practical understanding of relevant technologies in this area, including presenting the basic autonomous control and feedback techniques for vehicle velocity control and car following, steering and lane following, obstacle avoidance, lane change, and parking operations. Covering the sensors, estimation, and sensor fusion technologies necessary to perceive vehicle motions and external objects, this book explains the aspects that make autonomous vehicle behavior possible. Practitioners will find detailed examples of data fusion and Kalman filtering. From maps, path planning, and obstacle avoidance sensors to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this book presents the most critical topics in the field today.

Computer vision : a modern approach = 计算机视觉 : 一种现代的方法

Abstract: From the Publisher: The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

Vehicular Networking: A Survey and Tutorial on Requirements, Architectures, Challenges, Standards and Solutions

Abstract: Vehicular networking has significant potential to enable diverse applications associated with traffic safety, traffic efficiency and infotainment. In this survey and tutorial paper we introduce the basic characteristics of vehicular networks, provide an overview of applications and associated requirements, along with challenges and their proposed solutions. In addition, we provide an overview of the current and past major ITS programs and projects in the USA, Japan and Europe. Moreover, vehicular networking architectures and protocol suites employed in such programs and projects in USA, Japan and Europe are discussed.