Özgüner U., Acarman T., Redmill K.A. Autonomous Ground Vehicles

Artech House, 2011. 277 p. — ISBN: 1608071928, 9781608071920, 1608071936, 9781608071937In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios.to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.The Role of Control in Autonomous Systems
System Architecture and Hybrid System Modeling
Sensors, Estimation, and Sensor Fusion
Examples of Autonomy
Maps and Path Planning
Vehicle-to-Vehicle and Vehicle-to-Infrastructure Communication
ConclusionsAppendix
Two-Wheel Vehicle (Bicycle) Model
Full Vehicle Model Without Engine Dynamics