Sensors and Sensor’s Fusion in Autonomous Vehicles

Stateczny, Andrzej; Wlodarczyk–Sielicka, Marta; Burdziakowski, Paweł

doi:10.3390/s21196586

Cited by 5 publications

(4 citation statements)

References 17 publications

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“…Although millimeter wave radar has good resolution, it has a short range. Micrometer wave radar, in contrast, has a longer range of 200 m but it has poor resolution [25]. Radar also has poor capability for target classification as it cannot distinguish color [26].…”

Section: Related Workmentioning

confidence: 99%

A Study on Data Selection for Object Detection in Various Lighting Conditions for Autonomous Vehicles

Lin,

Parsi,

Mullins

et al. 2024

J. Imaging

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In recent years, significant advances have been made in the development of Advanced Driver Assistance Systems (ADAS) and other technology for autonomous vehicles. Automated object detection is a crucial component of autonomous driving; however, there are still known issues that affect its performance. For automotive applications, object detection algorithms are required to perform at a high standard in all lighting conditions; however, a major problem for object detection is poor performance in low-light conditions due to objects being less visible. This study considers the impact of training data composition on object detection performance in low-light conditions. In particular, this study evaluates the effect of different combinations of images of outdoor scenes, from different times of day, on the performance of deep neural networks, and considers the different challenges encountered during the training of a neural network. Through experiments with a widely used public database, as well as a number of commonly used object detection architectures, we show that more robust performance can be obtained with an appropriate balance of classes and illumination levels in the training data. The results also highlight the potential of adding images obtained in dusk and dawn conditions for improving object detection performance in day and night.

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Section: Related Workmentioning

confidence: 99%

A Study on Data Selection for Object Detection in Various Lighting Conditions for Autonomous Vehicles

Lin,

Parsi,

Mullins

et al. 2024

J. Imaging

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“…The attention of human driver can be easily focused again after being reminded, but the machine system will not discover its inappropriate decision under complex situations, such as the driverless dilemma in [27] and the incorrect detection of the sensory system in [31]. In this scenario, based on the different understandings of the complex traffic environment, the human driver and machine system were assumed to have conflicting driving goals.…”

Section: Case 3: Scenario With Human-machine Conflicting Goalsmentioning

confidence: 99%

Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy

Wu,

Su,

Yan

2023

Machines

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Human–machine shared control of intelligent vehicles is considered an important technology during the industrial application of autonomous driving systems. Among the engineering practices in driver assistance systems, shared steering control is one of the important applications for the human–machine interaction. However, how to deal with human–machine conflicts during emergency scenarios is the main challenge for the controller’s design. Most shared control approaches usually generate machine-oriented results without enough attention to the driver’s reaction. By taking the human driver and machine system as two intelligent agents, this paper proposes a game-based control scheme to achieve a dynamic authority allocation during the lane changing maneuver. Based on the modeling of predicted trajectories of the human driver, a human-intention-based shared steering control is designed to achieve dynamic Nash game equilibrium. Moreover, a human-oriented shared steering mechanism is employed to not only benefit from automated machine assistance, but also make full play of human contributions. Using quantitative comparative analysis in lane changing scenarios with different human–machine conflicts, a better performance by considering both driving comfort and safety is achieved.

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“…Among other things, the sensors in the vehicle’s motion measurement system and the environmental (road) detection system play a key role in this issue, as they provide the necessary information to the controller, which translates into the operation of the entire system [ 13 ]. It is also worth mentioning at this point that sensors also introduce various types of imperfections into the whole system, such as measurement noise or offsets, among others.…”

Section: Introductionmentioning

confidence: 99%

The Validity of Sensors and Model in the Lane Change Control Process

Dębowski

Faryński

Żardecki

2023

Sensors

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The paper demonstrates the validity of sensors and the model in the algorithm for a lane change controller. The paper presents the systematic derivation of the chosen model from the ground up and the important role played by the sensors used in this system. The whole concept of the system on which the tests were carried out is presented step by step. Simulations were realised in the Matlab and Simulink environments. Preliminary tests were performed to confirm the need for the controller in a closed-loop system. On the other hand, sensitivity (the influence of noise and offset) studies showed the advantages and disadvantages of the developed algorithm. This allowed us to create a research path for future work with the aim of improving the operation of the proposed system.

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Sensors and Sensor’s Fusion in Autonomous Vehicles

Abstract: Autonomous vehicle navigation has been at the center of several major developments, both in civilian and defense applications [...]

Cited by 5 publications

References 17 publications

A Study on Data Selection for Object Detection in Various Lighting Conditions for Autonomous Vehicles

A Study on Data Selection for Object Detection in Various Lighting Conditions for Autonomous Vehicles

Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy

The Validity of Sensors and Model in the Lane Change Control Process

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