published version features the final layout of the paper including the volume, issue and page numbers.
Link to publication
General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User
Automated valet parking (AVP) has attracted much attention as the entry point to autonomous driving. In an indoor environment, high-precision positioning systems are essential for AVP. Ultra-wideband (UWB) is one of the most widely adopted techniques. However, the base station placement significantly influences the system’s positioning accuracy, especially for the irregular architecture of underground parking lots. This article proposes a three-stage practical and economical layout planning approach for UWB base stations, including determining the deployment strategy and layout parameters and comprehensive adjustment and scheme verification. The approach considers regional differentiation accuracy requirements for AVP, such as ramp area, surface fluctuation area, and narrow area. The adopted positioning method of a UWB system is the time difference of arrival (TDOA), and the evaluation index of positioning accuracy is the horizontal dilution of precision (HDOP). Through experimental tests in an actual parking lot, the proposed approach is confirmed to ensure stability and economy with fewer UWB base stations and can meet the positioning accuracy requirements of AVP.
A cooperative vehicle-infrastructure system (CVIS) can provide perception information beyond the visual range for autonomous vehicles via roadside directional sensors, such as cameras, millimeter-wave radar, and lidar. The performance of roadside perception strongly depends on sensor placement, where physical occlusion between vehicles is inevitable. This paper proposes an occlusion degree model (ODM) to describe the dynamic occlusion between sensors, obstacles, and targets in a three-dimensional space. The ODM is then integrated with microscopic traffic simulation to study the impacts of traffic density, vehicle model composition, and sensor configurations on vehicle detection and tracking performances. Based on the simulation, a multifactor regression model with a logistic growth curve is established to quantify the performance of roadside sensors with different factors, where the evaluation metrics are rigorously designed. Finally, an optimization model of roadside sensor placement with non-linear constraints is formulated to reduce the construction cost under a coverage constraint and improve the perception accuracy within budget limitations. A case study of a highway scenario shows that the performance of the proposed approach improves by 5.63%, 6.55%, and 8.01%, respectively, under the worst possible condition with accuracy requirements of 0.97, 0.96, and 0.95 compared with the conventional placement scheme. The study provides a map of the performance of roadside perception with different influencing factors and guides the optimal roadside sensor placement for a CVIS.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.