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Through the use of a virtual trailer link model, autonomous vehicle following capabilities have been demonstrated. The principle is based on the modelling of the trailer link, used in the off-hooked trailer system, as a virtual link between the leading and led vehicles. The leader vehicle is modelled as the tractor (towing vehicle) and the follower vehicle(More)
As an increasing number of automatic safety and navigation features are added to modern vehicles, the crucial job of providing real-time localisation is predominantly performed by a single sensor, GPS, despite its well-known failings, particularly in urban environments. Various attempts have been made to supplement GPS to improve localisation performance,(More)
A robust vehicle following system with obstacle avoidance capabilities for operation in natural environments is described in this paper. By combining a novel vehicle-tracking and detection algorithm with our path-planner for autonomous navigation, it was possible for a tracked logistics armoured ambulance carrier to follow a multi purpose vehicle in an(More)
A novel approach for the development of a 3D laser radar (LADAR) system for vehicle guidance is presented. A rotating mirror assembly is used to deflect the beam scan of a 2D laser to obtain the 3/sup rd/ dimension. The mirror assembly is constructed by joining six mirrors to form a hexagon-shaped reflector. By rotating this mirror assembly in front of the(More)
In an obstacle filled environment, path planning solutions that use accurate Global Positioning System (GPS) coordinates of obstacles need to reconsider the inaccuracies of positioning when the differential GPS is not available. Typical GPS positioning systems operating without the differential component, are able to provide a default Central Error(More)
Simultaneous localization and mapping problem for mobile robots has received considerable attention over the last decade. The widely used formulation of the SLAM problem has been the augmented state approach in an estimation theoretic framework. Although, many related issues of SLAM such as computational complexity, loop closing and data association have(More)
Intersections are the most complex and hazardous areas of the road network, and 89% of accidents at intersection are caused by driver error. We focus on these accidents and propose a novel approach to risk assessment: in this work dangerous situations are identified by detecting conflicts between intention and expectation, i.e. between what drivers intend(More)
Safety applications at road intersections require algorithms that can estimate the manoeuvre intention of all the drivers in the scene. In this paper, the use of contextual information extracted from a digital map of the road network is explored. We propose a Bayesian network which combines probabilistically uncertain observations on the vehicle's behaviour(More)
A good localization ability is essential for an autonomous vehicle to perform any functions. For ground vehicles operating in outdoor, uneven and unstructured environments, the localization task becomes much more difficult than in indoor environments. In urban or forest environments where high buildings or tall trees exist, GPS sensors also fail easily. The(More)