Smart Roadster Project: Setting up Drive-by-Wire or How to Remote-Control your Car.
01 Jan 2006-pp 383-390
TL;DR: How to interface steering, throttle and brake as well as built-in sensors are described, and an inexpensive way to provide a safe research platform for road traffic is shown.
Abstract: Since research in intelligent autonomous road vehicles gets more and more popular, many interested researchers are confronted with the needs to setup a commercially available vehicle with drive-by-wire. Up-to-date road vehicles contain many mechatronical components, sensors and driver assistance systems, which can be interfaced and thus reduce the needs of expensive modifications and additional actors to a minimum. This paper describes how to interface steering, throttle and brake as well as built-in sensors, and shows an inexpensive way to provide a safe research platform for road traffic.
Citations
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TL;DR: A discussion and review of resonant magnetic field sensors based on MEMS technology, which exploit the Lorentz force in order to detect external magnetic fields through the displacement of resonan structures, which are measured with optical, capacitive, and piezoresistive sensing techniques.
Abstract: Microelectromechanical systems (MEMS) technology allows the integration of magnetic field sensors with electronic components, which presents important advantages such as small size, light weight, minimum power consumption, low cost, better sensitivity and high resolution. We present a discussion and review of resonant magnetic field sensors based on MEMS technology. In practice, these sensors exploit the Lorentz force in order to detect external magnetic fields through the displacement of resonant structures, which are measured with optical, capacitive, and piezoresistive sensing techniques. From these, the optical sensing presents immunity to electromagnetic interference (EMI) and reduces the read-out electronic complexity. Moreover, piezoresistive sensing requires an easy fabrication process as well as a standard packaging. A description of the operation mechanisms, advantages and drawbacks of each sensor is considered. MEMS magnetic field sensors are a potential alternative for numerous applications, including the automotive industry, military, medical, telecommunications, oceanographic, spatial, and environment science. In addition, future markets will need the development of several sensors on a single chip for measuring different parameters such as the magnetic field, pressure, temperature and acceleration.
153 citations
Cites background from "Smart Roadster Project: Setting up ..."
...DbW systems replace the conventional mechanical and hydraulic control systems by electronic control systems through electromechanical actuation (that can include magnetic field sensors) and human-machine interfaces for improving the overall automotive safety and performance [67,68]....
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01 Jul 2007
26 citations
TL;DR: A collision avoidance system, based on a modern Time-Of-Flight camera, which is capable of all kinds of objects, including pedestrians as well as bicycles or vehicles, and integrated into an autonomous vehicle.
Abstract: In autonomous vehicles as well as in modern driver assistance systems, obstacle detection shows to be the most important task to be achieved This paper presents a collision avoidance system, based on a modern Time-Of-Flight camera These cameras allow a 3D perception of the environment, in which obstacles can be detected, independent of special features Thus, the system is capable of all kinds of objects, including pedestrians as well as bicycles or vehicles The used Photonic Mixing Device (PMD) camera has a measurement range of up to 50 m The system is integrated into an autonomous vehicle, on which detected obstacles are investigated in detail The vehicle steering commands are then generated by a behaviour network, depending on the presence of obstacles in the driving lane
18 citations
Dissertation•
01 Jan 2009
TL;DR: Diese Arbeit prasentiert eine echtzeitfahige Hard- and Softwarearchitektur fur kognitive Systeme, which zeigt der erfolgreiche Einsatz in mehreren kognitiven Automobilen und in weiteren Anwendungen.
Abstract: Diese Arbeit prasentiert eine echtzeitfahige Hard- und Softwarearchitektur fur kognitive Systeme. Eine leistungsfahige Rechnerplattform mit mehreren Prozessorkernen und -knoten verarbeitet alle Daten. Durch ein flexibles Prozessmodell laufen darauf Tasks mit verschiedenen Zeitanforderungen.
Die entwickelte Realzeitdatenbasis fur kognitive Automobile (KogMo-RTDB) ermoglicht als zentrale Schnittstelle den reibungslosen Datenaustausch zwischen Echtzeit- und Nicht-Echtzeit-Tasks. Ein neuer Algorithmus fur ein blockierungsfreies Schreib-/Leseprotokoll sorgt fur Datenkonsistenz. Sein Historienkonzept ermoglicht die zeitliche Entkopplung. Die ruckwirkungsfreie Methode zur Datenaufzeichnung unterstutzt die Simulation.
Eine Analyse beweist die Echtzeitfahigkeit, zahlreiche Messungen bestatigen die Effizienz des Gesamtsystems. Die Praxistauglichkeit zeigt der erfolgreiche Einsatz in mehreren kognitiven Automobilen und in weiteren Anwendungen.
12 citations
Cites background from "Smart Roadster Project: Setting up ..."
...[180] Schröder, Joachim, Udo Müller und Rüdiger Dillmann: Smart Roadster Project: Setting up Drive-by-Wire or How to Remote-Control your Car....
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...MCA2 eignet sich auch zur Umsetzung der Regelung eines autonomen Smart Roadster [180]....
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...So wird sie am Forschungszentrum Informatik in Karlsruhe in einem für autonomes Fahren modifizierten Smart Roadster [180, 216] eingesetzt, der u....
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04 Jun 2008
TL;DR: The hardware and software framework of AnnieWAY, an autonomous vehicle successfully competing at all qualification stages up to the finals of the DARPA Urban Challenge 2007 competition, proves to be flexible, expandable, and robust at the same time.
Abstract: This paper describes the hardware and software framework of AnnieWAY, an autonomous vehicle successfully competing at all qualification stages up to the finals of the DARPA Urban Challenge 2007 competition. Besides the hardware premises for by-wire steering, braking, throttle control and sensors, two frameworks for high-level decision making and low-level control are described in detail. Furthermore, this contribution points out AnnieWAYpsilas safety features for both unmanned competition runs and manned testing. The system proves to be flexible, expandable, and robust at the same time.
9 citations
Cites methods from "Smart Roadster Project: Setting up ..."
...For the latter, an experimental vehicle based on a VW Passat platform has been equipped with actuators, computers, microcontrollers and sensors (see also [4], [5])....
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References
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05 Aug 1995
TL;DR: AURORA is a vision-based system designed to warn a vehicle driver of possible impending roadway departure accidents, using a downward looking color video camera with a wide angle lens, a digitizer, and a portable Sun Sparc workstation.
Abstract: AURORA is a vision-based system designed to warn a vehicle driver of possible impending roadway departure accidents. It employs a downward looking color video camera with a wide angle lens, a digitizer, and a portable Sun Sparc workstation. Using a binormalized adjustable template correlation algorithm, it reliably detects lane markers on structured roads at 60 Hz. A time-to-lane-crossing (TLC) measurement is calculated for each image based on the estimation of vehicle's lateral position and velocity. This measurement is used to trigger an alarm when the TLC falls below a preset threshold. Promising results have been achieved under a variety of weather and lighting conditions, on many road types.
129 citations
"Smart Roadster Project: Setting up ..." refers background in this paper
...Drive-by-Wire, Autonomous Vehicle, Vehicle Control, Driver Assistance, ABS, ESP, Electric Power Steering...
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TL;DR: In this paper, a survey on the Expectation-based Multifocal Saccadic vision (EMS-vision) system for autonomous vehicle guidance developed at the Universitat der Bundeswehr Munchen (UBM) is presented.
Abstract: The paper gives a survey on the new Expectation-based Multifocal Saccadic vision (EMS-vision) system for autonomous vehicle guidance developed at the Universitat der Bundeswehr Munchen (UBM). EMS-Vision is the third generation dynamic vision system following the 4-D approach. Its core element is a new camera arrangement, mounted on a high bandwidth pan-tilt head for active gaze control. Central knowledge representation and a hierarchical system architecture allow efficient activation and control of behavioral capabilities for perception and action. The system has been implemented on commercial off-the-shelf (COTS) hardware components in both UBM test vehicles VaMoRs and VaMP Results from autonomous turnoff maneuvers, performed on army proving grounds, are discussed.
107 citations
TL;DR: The first results obtained by the GOLD (Generic Obstacle and Lane Detection) system as an automatic driver of ARGO, a Lancia Thema passenger car equipped with a vision-based system that allows to extract road and environmental information from the acquired scene.
Abstract: This paper presents and discusses the first results obtained by the GOLD (Generic Obstacle and Lane Detection) system as an automatic driver of ARGO. ARGO is a Lancia Thema passenger car equipped with a vision-based system that allows to extract road and environmental information from the acquired scene. By means of stereo vision, obstacles on the road are detected and localized, while the processing of a single monocular image allows to extract the road geometry in front of the vehicle. The generality of the underlying approach allows to detect generic obstacles (without constraints on shape, color, or symmetry) and to detect lane markings even in dark and in strong shadow conditions. The hardware system consists of a PC Pentium 200 Mhz with MMX technology and a frame-grabber board able to acquire 3 b/w images simultaneously; the result of the processing (position of obstacles and geometry of the road) is used to drive an actuator on the steering wheel, while debug information are presented to the user on an on-board monitor and a led-based control panel.
23 citations
"Smart Roadster Project: Setting up ..." refers background in this paper
...Drive-by-Wire, Autonomous Vehicle, Vehicle Control, Driver Assistance, ABS, ESP, Electric Power Steering...
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