IDEAS home Printed from https://ideas.repec.org/p/cdl/itsrrp/qt9ct800c5.html
   My bibliography  Save this paper

Aggregation of Direct and Indirect Positioning Sensors for Vehicle Guidance

Author

Listed:
  • Agogino, Alice
  • Chao, Susan
  • Wang, Jiangxin
  • Deng, Xinyan

Abstract

Advanced Vehicle Control Systems (AVCS) require large numbers of sensors for different levels within the control hierarchy. Whereas all sensors contain uncertainty to some degree, different sensors are particularly useful for specific environmental conditions. Therefore, sensor redundancy is essential to achieving high sensor data fidelity for use in real-world, non-ideal, unpredictable environments. In this work, a positioning sensor system, which includes Global Positioning System (GPS) receivers, a radar sensor, and a linear transducer is investigated. Positioning sensors provide information about the absolute or relative position of vehicles, a crucial component of the control system. GPS is potentially powerful for AVCS because of its high accuracy achievable by Differential GPS (DGPS) and other advanced GPS techniques. Field tests using these three sensors have been performed in cooperation with SRI International. Sensor noise models of GPS, radar, and linear Transducer sensors are developed based on the test data. A synchronization method is suggested for the scenario in which sensors output data at different frequencies and time delays. Two types of validation and fusion algorithms, PDAF and FUSVAF, are implemented for the open loop test data and the results are compared. A closed loop simulation has been performed using a simple PDD controller as the follower control law within a platoon. The sensor models developed here are applied in the simulation, and the two fusion algorithms are implemented and the results are compared. Finally, additional simulations incorporate results into VDL. Key words: sensor modeling, sensor validation, sensor fusion, data fusion, data synchronization, supervisory control, VDL, management of uncertainty, reliability

Suggested Citation

  • Agogino, Alice & Chao, Susan & Wang, Jiangxin & Deng, Xinyan, 2000. "Aggregation of Direct and Indirect Positioning Sensors for Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9ct800c5, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt9ct800c5
    as

    Download full text from publisher

    File URL: https://www.escholarship.org/uc/item/9ct800c5.pdf;origin=repeccitec
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Agogino, Alice & Goebel, Kai & Alag, Sanam, 1995. "Intelligent Sensor Validation And Sensor Fusion For Reliability And Safety Enhancement In Vehicle Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5bc922tn, Institute of Transportation Studies, UC Berkeley.
    2. Agogino, Alice & Goebel, Kai & Alag, Sanam, 1997. "Intelligent Sensor Validation And Fusion For Vehicle Guidance Using Probabilistic And Fuzzy Methods," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2nq1f8n9, Institute of Transportation Studies, UC Berkeley.
    3. Farrell, Jay & Barth, Matthew & Galijan, Randy & Sinko, Jim, 1998. "GPS/ INS Based Lateral And Longitudinal Control Demonstration: Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5tn6b3cp, Institute of Transportation Studies, UC Berkeley.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Jinan Piao & Mark Beecroft & Mike McDonald, 2009. "Vehicle Positioning for Improving Road Safety," Transport Reviews, Taylor & Francis Journals, vol. 30(6), pages 701-715, October.
    2. J. Piao & M. McDonald, 2008. "Advanced Driver Assistance Systems from Autonomous to Cooperative Approach," Transport Reviews, Taylor & Francis Journals, vol. 28(5), pages 659-684, February.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Agogino, Alice & Chao, Susan & Goebel, Kai & Alag, Satnam & Cammon, Bradly & Wang, Jiangxin, 1998. "Intelligent Diagnosis Based On Validated And Fused Data For Relilability And Safety Enhancement Of Automated Vehicles In An IVHS," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1mw2v298, Institute of Transportation Studies, UC Berkeley.
    2. Yi, Jingang & Suryanarayanan, Shashikanth & Howell, Adam & Horowitz, Roberto & Tomizuka, Masayoshi & Hedrick, Karl & Alvarez, Luis, 2002. "Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6nh6r02x, Institute of Transportation Studies, UC Berkeley.
    3. Agogino, Alice & Goebel, Kai & Alag, Sanam, 1997. "Intelligent Sensor Validation And Fusion For Vehicle Guidance Using Probabilistic And Fuzzy Methods," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2nq1f8n9, Institute of Transportation Studies, UC Berkeley.
    4. Kong, Dejing & Qin, Chengwei & He, Yong & Cui, Lirong, 2017. "Sensor-based calibrations to improve reliability of systems subject to multiple dependent competing failure processes," Reliability Engineering and System Safety, Elsevier, vol. 160(C), pages 101-113.
    5. Yi, Jingang & Suryanarayanan, Shashikanth & Howell, Adam & Horowitz, Roberto & Tomizuka, Masayoshi & Hedrick, Karl, 2002. "Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part II," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt0n77c5rd, Institute of Transportation Studies, UC Berkeley.
    6. Hongda Gao & Dejing Kong & Yixin Sun, 2022. "Reliability modeling and analysis for systems governed by multiple competing failures processes," Journal of Risk and Reliability, , vol. 236(2), pages 256-265, April.
    7. Zhou, Jack & Golledge, Reginald, 1999. "A GPS-based Analysis Household Travel Behavior," University of California Transportation Center, Working Papers qt3zf8h075, University of California Transportation Center.
    8. Golledge, Reginald G. & Zhou, Jianyu, 2001. "GPS-Based Tracking of Daily Activities," University of California Transportation Center, Working Papers qt9jb438r2, University of California Transportation Center.
    9. Golledge, Reginald G & Zhou, Jack, 1999. "A GPS-based Analysis of Household Travel Behavior," University of California Transportation Center, Working Papers qt3hg1f5nb, University of California Transportation Center.
    10. Yi, Jingang & Howell, Adam & Horowitz, Roberto & Hedrick, Karl & Alvarez, Luis, 2001. "Fault Detection and Handling for Longitudinal Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7n15m1wk, Institute of Transportation Studies, UC Berkeley.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:cdl:itsrrp:qt9ct800c5. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Lisa Schiff (email available below). General contact details of provider: https://edirc.repec.org/data/itucbus.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.