Mathematical Theory of Autonomous Vehicle (s3223883)
Mathematical Theory of Autonomous Vehicle (s3223883)
Mathematical Theory of Autonomous Vehicle (s3223883)
CONTENTS
1. INTRODUCTION
3. WORKING METHODOLOGY
4. FUTURE MODEL
6. CONCLUSION
INTRODUCTION
FULLY AUTOMATED
SYSTEMS
ENCHANCEMENT OF
INFRASTRUCTURE
ASSISSTANT SYSTEMS
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ENCHANCEMENT OF INFRASTRUCTURE
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ASSISTED SYSTEMS
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WORKING METHODOLOGY
• Vehicle can follow the given path only if it turns about the centre of
curvature of the path at a correct distance equal to paths radius of curvature.
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BASIC TERMINOLOGY
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• The steering angles of the front inner and outer wheels are δif and δof .
• l is the called the wheel base it the distance between the front and rear
axle .
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Fig 2: illustration of the car that is moving on road at point that Cc is centre of curvature
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• ideal motion of the vehicle on elliptic road with road radius of curvature is
plotted.
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VEHICLE DYANMICS
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ORIENTATION ERROR
The orientation error denotes the angle error of the system
Fig 9 : angles involved in the vehicle motion ( indicates the orientation error) λ)
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RESULTS
By incorporating position error and orientation error with adjusted steer angles
we would achieve the following results
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EXPERIMENTAL MODEL
This model is created with an idea to combine the mathematical algorithm
with sophisticated hardware technology to develop a highly accurate and
responsive autonomous vehicle.
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THE ARCHITECTURE:
• The architecture model consists of main stages
• Environmental sensing: sensors that are mounted on the vehicle gives outputs and
those are used to modal the environment (roads, lanes).
• Planning: once environmental modal is confirmed, planning stage develops various
strategies, suitable scenario is chosen
• Coordination: finally the output data will be coordinated to the power train
• Decision control : the feedback errors are given to control task and final output is
given in terms of motion vector i.e. Acceleration and steering with respect to
environment.
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HARDWARE REQUIREMENTS
• LIDAR, RADAR, GPS/INS, FLIR.
• The framework will accept inputs from sensors in a variety of formats and
external information sources such as satellite, Wi-Fi and DSRC to built the
environmental model.
• Both high-level(ultra sonic) and low-level(infrared) sensor fusion
techniques will be incorporated.
• Computer with Pentium 4 processor at 2.8 GHz and windows Xp
professional dedicated to image sensing and to run dynamic algorithms.
• Camera with high resolution of 750(width)*400(height) pixels are needed.
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CONCLUSION
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THANK YOU
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QUESTIONS
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