Tunnel lane‐positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system

Abstract

Currently, studies on autonomous driving are being actively conducted. Vehicle positioning techniques are very important in the autonomous driving area. Currently, the global positioning system (GPS) is the most widely used technology for vehicle positioning. Although technologies such as the inertial navigation system and vision are used in combination with GPS to enhance precision, there is a limitation in measuring the lane and position in shaded areas of GPS, like tunnels. To solve such problems, this paper presents the use of LED lighting for position estimation in GPS shadow areas. This paper presents simulations in the environment of three‐lane tunnels with LEDs of different color temperatures, and the results show that position estimation is possible by the analyzing chromaticity of LED lights. To improve the precision of positioning, a fuzzy logic system is added to the location function in the literature [1]. The experimental results showed that the average error was 0.0619 cm, and verify that the performance of developed position estimation system is viable compared with previous works.

Development of Positioning Technology Using LED

“…In this paper, we propose a technology for estimating position by analyzing the components of light measured 2 > REPLACE THIS LINE WITH YOUR MANUSCRIPT ID NUMBER (DOUBLE-CLICK HERE TO EDIT) < according to location through LED lights with different color temperatures on a 2D plane. The gap between the LED chromaticity values used in the studies [20], [21], [22], [23], [24], [25] is reduced, and positioning is estimated through analysis using interpolation and FFT. Light changes color depending on its wavelength, and it can be obtained from the tristimulus values X, Y, and Z designated by the Commission Internationale de l´Eclairage (CIE) by measuring R, G, and B values.…”

“…The correlated color temperature (CCT) value can be obtained through x and y. As a result, information about the color temperature of the LED light can be obtained [20], [21], [22], [23], [24], [25] Positioning using CCT and FFT The rest parts of the paper are organized as follows. In Section II, the color coordinates, black body, and correlated color temperature of light are described.…”

“…A representative example of the trichromatic system is the CIE color model recommended by the International Commission on Illumination, which is defined as the RGB color system and the XYZ color system. In the case of XYZ, which is a tristimulus value, it can be obtained using RGB as follows [20], [22], [24], [26]: Blackbody radiation refers to the spectrum of light emitted by any heated object, and the absolute temperature of the blackbody corresponds to each color. This is defined as CCT.…”

“…The CCT value can be obtained through McCamy's formula and can be expressed as follows [29]: In this paper, we set up the experimental environment as shown in Fig. 2 and conducted localization experiments using LEDs with CCT characteristics in the white band [20], [21], [22], [23], [24], [25].…”

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

“…Much literature has exploited the uncertainty handling capabilities of fuzzy logic in diverse application domains of robots, including climbing robotics [ 32 , 33 ], autonomous vehicles [ 34 , 35 ], aerial robotics [ 36 , 37 ], and maintenance and inspection robotics [ 38 , 39 ]. In particular, fuzzy logic has often been utilized for navigating robots in unknown environments.…”