Advanced Technologies in Vehicle Control Systems and Environment Perception
Explore the evolution of lane detection, road detection, information fusion, and stability analysis in advanced vehicle control systems. Discover the applications, challenges, and research issues in automated vehicle technologies.
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Presentation Transcript
6/30/10 Introduction to Lane-Position Detection Lane-Position Detection Lane-Departure- Warning Systems Driver-Attention Monitoring Systems Automated Vehicle- Control Systems [ 2: McCall and Trivedi 2006] Jun. 30, 2010 2
6/30/10 Introduction to Lane-Position Detection Lane-Departure- Warning Systems Driver-Attention Monitoring Systems Automated Vehicle- Control Systems Jun. 30, 2010 3 [ 2: McCall and Trivedi 2006]
6/30/10 Introduction to Lane-Position Detection Lane-Position Detection Vehicle Surrounding Monitoring Systems Lane-Departure- Warning Systems Automated Vehicle-Control Systems Driver-Attention Monitoring Systems For automated vehicles For driver s information Jun. 30, 2010 4
9/21/11 Introduction to Road Detection Introduction to Road Detection Urban area Road borders Road markings Lane detection and tracking Land keeping structured Road Road Road detection Road surface detection Drivable detection Branched road detection Road following Rural area Without remarkable boundaries and markings Non- structured Road Road scene Traffic sign detection 3D Scene identification Environment perception Sky ,Buildings Tree, Side walks Traffic sign Static objects Non-Road Vehicles detection Bicycles detection Pedestrian detection Vehicles, bicycles Pedestrian Dynamic objects Research issues
6/27/11 Information Information Reduction (Fusion) Remove redundant information ALL information quantities x % Performance index or constraint Information classification Minimum # to reconstruct Remove method Sampling + Weighting Important Redundant Sampling Weighting Optimal problem Error Temporal sampling + spatial weighting Weighting allocation ROI Periodic Convex problem SNR or PSNR Varying Sampling rate Weighting
4/12/11 NCS Topic Method Assumption Application (exp.) Stability (stabilization) Stochastic control theory Lyapunov- based Switched system Inverted pendulum Tradeoff LMI Delay of ca # of Robust stability analysis Stability analysis Stability analysis Performance Hybrid Delay accessing the network Numerical example Constant Network cost MLJS Sufficient cond. Markov process (Discrete) Guarantee stability Bounded Computing bounded Random (varying) Linear differential equation (cont.)
4/12/11 Control Known QoS bandwidth transmission rate delay dropouts etc Communication Known QoC robustness stability etc [Yepez et al. 2002] [Dritsas et al. 2009] [Heemels et al. 2009] [Chen et al. 2009] [Lian et al. 2003]
