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Abstract Accurate vehicle positioning information is essential reliable operation of advanced driver assistance systems (ADAS). Conventionally, fusing information by attaching an inertial measurement unit (IMU) to the outside of the vehicle with GPS is widely used for this purpose. However, because a linear tire model is used as the dynamic model for positioning estimation, most methods have lo...

Vehicle-to-vehicle radio links suffer from power variations, multipath fading and associated Doppler spreading in frequency, as well as interference form other vehicles. These effects are investigated in the context of an Automated Vehicle Control Systems (AVCS) employing vehicle platoons. A statistical model for the channel is considered and the performance of the network involving many links ...

This paper describes the vehicle guidance system of an autonomous vehicle. This system is part of the control structure of the vehicle and consists of a path generator, a motion planning algorithm and a sensor fusion module. A stereo vision sensor and a DGPS sensor are used as position sensors. The trajectory for the vehicle motion is generated in a rst step by using only information from a dig...

A comprehensive model of the transmission channel between moving vehicles in realistic environments is presented in this paper. The approach consists of tree major parts: the modelling of the road traffic, the modelling of the environment adjacent to the road and the actual modelling of the wave propagation between the vehicles. A ray-tracing approach is used for the wave propagation, which all...

Vehicular networks are used to coordinate actions among vehicles in traffic by the use of wireless transceivers. Unfortunately, the wireless communication among vehicles is vulnerable to security threats that may lead to very serious safety hazards. In this work we propose a viable solution for coping with Man-in-the-Middle attacks. To the best of our knowledge, this is the first work that prop...

In front wheels driven vehicles, fuel economy can be obtained by summing torques applied to rear wheels. On the other hand, unequal torques applied to rear wheels provides enhanced safety. In this paper, a model with seven degrees of freedom is considered for the vehicle body. Thereafter, power-train subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controlle...

Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To...

Uncontrolled intersections are the intersections where there are no external signs or signals to control the movement of vehicles. In mixed traffic conditions priority rules are often violated by the road users. In All-way-stop-controlled intersections (AWSC), the vehicle should stop themselves before they enter the intersection and should check whether any vehicles are present in the other app...