A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new odometric technique using the four ABS sensors is presented. Due to the redundancy of measurements, the precision is better than the method using differential odometry on the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying the data-fusion process and improving the quality of its results. K E Y W O R D S 1. GPS. 2. Odometry. 3. Data fusion. 4. Kalman filtering.
This paper presents a framework for distributed in-vehicle real-time applications. The framework is based on a client/server and emitter/receiver models with real-time extensions. The system allows the exchange of distributed data objects between calculators interconnected by a network bus. A dynamic reconfiguration and fault detection mechanisms are developed to ensure a reliable system. Interactions between processes are performed using the IEEE-1394 bus and are modeled as invocations to communicating active objects via an Object Oriented middleware called SCOOT-R that we developed. Finally, we present a typical automotive application involving our system: real-time accurate vehicle positioning on a digital map.
Absfract-In recent years, networking issues have become more and more important in the design of vehicle control systems and driver assistance functions. In this paper, we present a pragmatic approach for validating real-time invehicle applications using IEEE-1394 bus. By validation, we mean the verification of real-time constraints that will be met by the automotive applications. We will describe how the IEEE-1394 standard can respond to hard real-time constraints of critical and non-critical applications. We then present a software architecture based on distributed calculators interconnected by IEEE-1394 bus and well adapted for integrating multi-sensors automotive applications.
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