Author

Chuck Thorpe
Carnegie Mellon
E-mail: cet@r1.cmu.edu
Phone: (412) 268-3612

Objectives

At the conclusion of this module students should be able to:

• Identify the functions to be performed on board an intelligent vehicle
• Understand the variety of current technologies available for implementing those functions
• Understand the limitations of some of the technologies
• Comprehend the links between fully autonomous vehicle technologies and infrastructure assisted technologies

Prerequisites

None.

Course Outline

1. AVCSS User Services and On-Vehicle Functions
   1. Vehicle functions and safety services
   2. Vehicle functions and safety impacting services
   3. Vehicle functions and Commercial vehicles
   4. Vehicle functions and Transit vehicles
   5. Vehicle functions and Specialty vehicles
   6. Vehicle functions and supporting services 
2. Sensing Other Vehicles
   1. Basic Geometry
   2. Targets and Clutter
   3. Radar
   4. Ladar
   5. Sonar
   6. Communications
   7. Driver Models 
3. Sensing Obstacles
   1. Setting Requirements
   2. Ladar
   3. Polarimetric radar
   4. Stereo vision 
4. Sensing Lane Position
   1. Requirements
   2. Magnetics
   3. Buried cables
   4. Radar reflective surfaces
   5. Vision 
5. Sensing vehicle position and motion
   1. Requirements
   2. GPS
   3. Inertial
   4. Other sensors 
6. Predicting Braking Performance
   1. Basic formulas
   2. Wheel speeds and slip
   3. surface condition sensing 
7. Reliability
   1. Formulas
   2. Redundancy
   3. System-level solutions 
8. Emerging technologies
   1. Control
   2. Actuation
   3. Driver Condition
   4. Communications 
9. Sensor-friendly roadways and vehicles
   1. Dealing with clutter
   2. Path prediction 
10. Comments and conclusions