Дисертації: "Automotive sensors"

1

Ramian, Florian B. "Automotive radar imaging using noncoherent sensors." [S.l.] : [s.n.], 2006. http://deposit.ddb.de/cgi-bin/dokserv?idn=980528933.

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2

Kotzeva, Vega Petrova. "Chemical sensors for automotive emission control." Thesis, University of Cambridge, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.620419.

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3

Fersch, Thomas [Verfasser]. "Optical Code Modulation for Automotive LiDAR Sensors / Thomas Fersch." München : Verlag Dr. Hut, 2020. http://d-nb.info/121946984X/34.

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4

Wu, Chi-Hao. "Enhancing the production performance of automotive sensor assembly lines through the statistical design of experiments." Diss., Online access via UMI:, 2008.

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Анотація:

Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Systems Science and Industrial Engineering, 2008.
Includes bibliographical references.

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5

Gerrits, Brian D. "An analysis of competencies required in electricity and electronics by automotive technicians in the Chippewa Valley." Online version, 2008. http://www.uwstout.edu/lib/thesis/2008/2008gerritsb.pdf.

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6

Kronander, Jon. "Robust Automotive Positioning: Integration of GPS and Relative Motion Sensors." Thesis, Linköping University, Department of Electrical Engineering, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2589.

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Automotive positioning systems relying exclusively on the input from a GPS receiver, which is a line of sight sensor, tend to be sensitive to situations with limited sky visibility. Such situations include: urban environments with tall buildings; inside parking structures; underneath trees; in tunnels and under bridges. In these situations, the system has to rely on integration of relative motion sensors to estimate vehicle position. However, these sensor measurements are generally affected by errors such as offsets and scale factors, that will cause the resulting position accuracy to deteriorate rapidly once GPS input is lost.

The approach in this thesis is to use a GPS receiver in combination with low cost sensor equipment to produce a robust positioning module. The module should be capable of handling situations where GPS input is corrupted or unavailable. The working principle is to calibrate the relative motion sensors when GPS is available to improve the accuracy during GPS intermission. To fuse the GPS information with the sensor outputs, different models have been proposed and evaluated on real data sets. These models tend to be nonlinear, and have therefore been processed in an Extended Kalman Filter structure.

Experiments show that the proposed solutions can compensate for most of the errors associated with the relative motion sensors, and that the resulting positioning accuracy is improved accordingly.

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7

Barro, Alessandro. "Indirect TPMS improvement: sensor fusion with ultrasound parking sensors." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/23765/.

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Pre-feasibility analysis on the optimization of the performance of the indirect tyre pressure monitoring system through a sensor fusion with a new generation of ultrasound parking sensors: from the idea to the development of macro project specifications and macro business case, with definition of the possible new scenario in terms of performance, costs and perceived quality

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8

Wang, Liming. "Development and characterization of ceramic-based NOx sensors for automotive applications /." The Ohio State University, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487949508371872.

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9

Liu, Hugh-sing Hugh. "Integrated vehicle positioning system using sensors and image processing of beacon signal /." Hong Kong : University of Hong Kong, 2000. http://sunzi.lib.hku.hk/hkuto/record.jsp?B21903888.

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10

Husstedt, Hendrik [Verfasser]. "Measurement of Magnetic Fields for the Testing of Automotive Sensors / Hendrik Husstedt." Aachen : Shaker, 2012. http://d-nb.info/1067735615/34.

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11

Shackleton, Chris J. "Surface identification with low cost, narrow band ultrasonic sensors for automotive applications." Thesis, University of Reading, 2016. http://centaur.reading.ac.uk/65938/.

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The increasing number of vehicles on the road goes hand in hand with a rising number of traffic related accidents. As such there is a requirement to increase the level of safety provided to both the driver and other road users alike. The ultimate goal would be to realise autonomous vehicles on today’s roads. However few companies are able to provide a fully-fledged autonomous vehicle. That said many manufacturers are able to supply various advanced driver assistance systems in order to increase both the safety level and performance of the vehicle. Currently many different assistance systems are available that utilise a range of sensors, with great variation in cost. Not all vehicles have all sensors fitted, though there has been wide market acceptance of the ultrasonic parking aid. This sensor is low cost and also benefits from an ease of retrofitting, where not fitted as standard. Ultrasonic sensors however can only provide short range distance measurement and as such their uses are limited. This thesis takes ideas from CTFM ultrasound used in mobile robotics and applies them to low costs ultrasonic sensors found in the automotive industry, with the intention to provide additional functionality. In particular the specific challenge of driving surface recognition is considered. The experimental methods for data collection are presented alongside the classification techniques used. This thesis shows that low cost narrowband ultrasonic transducers can be used as an input for the classification of driving surfaces.

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12

Orlof, Wagner de Camargo. "Condicionador universal de sinais para sensores automotivos." [s.n.], 2011. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263036.

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Orientador: Carlos Alberto dos Reis Filho
Dissertação (mestrado profissional) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
Made available in DSpace on 2018-08-19T02:39:39Z (GMT). No. of bitstreams: 1 Orlof_WagnerdeCamargo_M.pdf: 10293340 bytes, checksum: 185cfc2f0630862653a1cd2ffedf8ef4 (MD5) Previous issue date: 2011
Resumo: Este trabalho propõe o desenvolvimento de um circuito de condicionamento de sinais para sensores automotivos. O desenvolvimento proposto visa resolver um problema de falta de flexibilidade dos circuitos de condicionamento dos módulos eletrônicos de controle usados na indústria automobilística. Foram analisadas também soluções encontradas na literatura científica em comparação com o cenário do problema apresentado. Para comprovação da hipótese da solução proposta, foi desenvolvido um protótipo do condicionador universal de sinais baseado em um microcontrolador SOC (system on chip). Dentro do universo de sensores automotivos e circuitos de condicionamento estudados, foram escolhidos três com características elétricas totalmente distintas, para os quais foram desenvolvidos os respectivos circuitos de condicionamento. Os circuitos foram caracterizados nos blocos analógicos e digitais de um microcontrolador PSoC (Programmable system on chip), que é um componente da empresa Cypress que possui um sistema completo no circuito integrado. Foi utilizada uma quantidade mínima de componentes externos ao microcontrolador para permitir a conexão dos sensores ao circuito. Também foi desenvolvido um "firmware" para controlar o carregamento das configurações de "hardware" para cada circuito de condicionamento. O resultado final foi um dispositivo condicionador universal capaz de se configurar conforme o sensor a ser conectado, selecionado através de entradas digitais. Foram realizados testes experimentais de funcionamento dos circuitos e da influência da temperatura no condicionador. O protótipo desenvolvido mostrou ser uma boa solução uma vez que foi capaz de condicionar adequadamente os sinais dos três tipos de sensores selecionados, um de cada vez
Abstract: This paper proposes the development of a signal conditioning circuit for automotive sensors. The proposed development aims to solve a problem of lack of flexibility in the conditioning circuits for electronic control modules used in the automotive industry. Solutions were also analyzed in the literature compared with the scenario of the problem. To prove the hypothesis of the proposed solution, it was developed a prototype of the universal signal conditioner based on a microcontroller SOC (system on chip). Within the universe of automotive sensors and conditioning circuits studied were chosen three sensors with totally different electrical characteristics, which were developed their conditioning circuits. The circuits were characterized in analog and digital blocks of a microcontroller PSoC (Programmable System on Chip), which is a component of the Cypress company that has a complete system on chip. A minimal amount of external components were used just to allow the microcontroller connection with the sensors. Also it was developed a "firmware" to control the loading of the settings of "hardware" for each conditioning circuit. The final result was a universal conditioner device capable to self reconfigure as the sensor to be connected, selected via digital inputs. Tests were conducted experimental operation of the circuits and the influence of temperature in the conditioner. The prototype proved to be a good solution since it was able to properly condition the signals from three types of sensors selected, one at a time
Mestrado
Eletrônica
Mestre em Engenharia Automobilistica

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13

Baradwaj, Nithin V. "Uncertainty Analysis of Resistive Soot Sensors for On-BoardDiagnostics of Automotive Particulate Filters." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1376408721.

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14

廖曉昇 and Hugh-sing Hugh Liu. "Integrated vehicle positioning system using sensors and image processing of beacon signal." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2000. http://hub.hku.hk/bib/B31223114.

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15

Alsaleem, Fadi M. "Dynamics of hybrid MEMS sensors and switches for mass and acceleration detection." Diss., Online access via UMI:, 2009.

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Thesis (Ph. D.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Mechanical Engineering, 2009.
Includes bibliographical references.

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16

Antony, Albin. "Fault tree analysis for automotive pressure sensor assembly lines." Diss., Online access via UMI:, 2006.

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Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Systems Science and Industrial Engineering Department, 2006.
Includes bibliographical references.

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17

Schuster, Frank [Verfasser], and Cristóbal [Akademischer Betreuer] Curio. "Feature Based SLAM using High-Noise Low-Cost Automotive Sensors / Frank Schuster ; Betreuer: Cristóbal Curio." Tübingen : Universitätsbibliothek Tübingen, 2020. http://d-nb.info/1206173114/34.

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18

Björk, Terese, and Johan Olsson. "Automotive pedestrian protection : application of radar-based sensors in order to detect humans in front of cars." Thesis, University West, Department of Technology, Mathematics and Computer Science, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-403.

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19

Arage, Hassen Alebel [Verfasser]. "Indicators for the Signal Degradation and Optimization of Automotive Radar Sensors under Adverse Weather Conditions / Alebel Arage Hassen." Aachen : Shaker, 2007. http://d-nb.info/1170527361/34.

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20

[Verfasser], Alebel Arage Hassen. "Indicators for the Signal Degradation and Optimization of Automotive Radar Sensors under Adverse Weather Conditions / Alebel Arage Hassen." Aachen : Shaker, 2007. http://nbn-resolving.de/urn:nbn:de:101:1-2018110404493514947589.

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21

Tomar, Abhineet Singh. "Modern Electrical/Electronic Infrastructure for Commercial Trucks : Generic Input/Output nodes for sensors and actuators in Commercial Trucks." Thesis, KTH, Radio Systems Laboratory (RS Lab), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220183.

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The presence of electrical and electronic circuits in commercial trucks has increased at a very fast rate during recent decades. With advancements in embedded systems and the introduction of electric controls in the automotive industry, the design of complex electric systems for the vehicles has become one of the major design challenges. In the commercial truck industry, the development cycles are almost a decade long. Therefore, it is a big challenge to introduce a new architecture to accommodate the modern automotive technologies in the upcoming generation of trucks. Currently, the commercial truck industry relies highly on a federated electrical/electronic (E/E) architecture. In this architecture, Electronic Control Units (ECU) are responsible for computation and Input/Output operations. These ECUs are clustered into different domains based on their respective functions. However, these domains are not isolated from each other. These modules communicate with each other using a vehicular network, which is typically a controller area network in the current trucks. In the automotive industry, automation is increasing at a fast pace. As the level of automation increases, the need for high computation also increases, which increases the overall costs. This study aims to address this problem by introducing an integrated E/E architecture where all the computational power is concentrated at one place (or perhaps two or three places to allow for redundancy). This study proposes to introduce a lowcost replacement for the current ECUs with more limited computational power but with generic input/output interfaces. This thesis provides the reader with some background of the current E/E architecture of commercial trucks and introduces the reader to ECUs. Additionally, the relevant network architectures and protocols are explained. A potential solution, based upon the centralized computation based E/E architecture and its implementation are discussed followed by a detailed analysis of the replacements for ECUs. The result of this analysis, if adopted, should result in a reduction of manufacturing and design costs, as well as make the production and maintenance process easier. Moreover, this should also have environmental benefits by reducing fuel consumption.
Förekomsten av elektronik och elektriska kretsar I kommersiella lastbilar has ökat i en väldigt snabb takt under de senaste decennierna. Med framsteg inom inbyggda system och introduktionen av elektroniska styrsystem i fordonsindustrin så har komplexa elektroniska system blivit en av de största designutmaningarna. I den kommersiella lastbilsindustrin där utvecklingscyklerna är nästan ett decennium, är det en stor utmaning att introducera ny arkitektur som tillgodoser all den nya teknologin som införlivas i fordonet. För närvarande så förlitar sig den kommersiella lastbilsindustrin mycket på en federated elektrisk/elektronisk (E/E) arkitektur. I denna arkitektur är elektroniska styrenheter (ECU) ansvariga för beräkningar och I/O (Input/Output) operationer. Dessa ECU:er är samlade i olika domäner baserade på dess funktioner. Domänerna är dock inte isolerade från varandra. De här modulerna kommunicerar därför med varandra med hjälp av ett fordonsnätverk, typiskt en CAN (Controller Area Network) i nuvarande lastbilar. I fordonsindustrin ökar automatiseringen i en snabb fart. I takt med att automatiseringen ökar så ökar även behovet av snabba och energiintensiva beräkningar, vilket i sin tur ökar den totala kostnaden. Denna studie har som mål att adressera det här problemet genom att introducera en integrated E/E arkitektur där all beräkningskraft är koncentrerad till en plats (eller två eller tre platser för att tillåta överskott). Den här studien föreslår att introducera en ersättning av nuvarande ECU:er till en låg kostnad, med lägre beräkningskraft och generiska I/O gränssnitt. Studien föreslår också ersättningar av nuvarande fordonsnätverk. Den här uppsatsen förser läsaren med viss bakgrund till den nuvarande E/E arkitekturen för kommersiella lastbilar och introducerar läsaren till ECU:er. Dessutom förklaras de relevanta nätverksarkitekturerna och protokollen. En potentiell lösning som baseras på den integrated E/E arkitekturen och dess implementering diskuteras med fokus på en detaljerad analys av ersättningarna till ECU:er. Resultatet av den här analysen skulle, om den adopteras, medföra minskning av tillverknings- och designkostnader samt leda till en förenkling av produktion och underhåll. Utöver det så bör det även ha miljöfördelar genom minskad bränsleförbrukning.

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22

Dudek, Manuel [Verfasser]. "Towards Future Automotive Safety Applications based on Phased-Array FMCW-Radar Sensors - a Holistic Simulative Approach Incorporating RF-Frontend Impairments / Manuel Dudek." München : Verlag Dr. Hut, 2015. http://d-nb.info/1077403887/34.

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23

Trasiev, Yavor. "Performance Modelling and Simulation of Automotive Camera Sensors : An exploration of methods and techniques to simulate the behaviour of lane detection cameras." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175361.

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Nowadays safety, along with efficiency, is one of the two strongest shaping forces of the automotive world, with advanced active safety applications being the major concentration of effort. Their development depends heavily on the quality of sensor data, a detailed measure of which is often up to the automotive manufacturers to derive, since the original equipment manufacturers (OEMs) may not disclose it on trade secrecy grounds. A model would not only provide a measure of the real-world performance of the sensor, but would also enable a higher degree of simulation accuracy which is vital to active safety function development. This is largely due to the high cost and risk involved in testing, a significant part of which is possible to be done in simulation alone. This thesis is an effort to derive a sensor model on behalf of Volvo Trucks of the performance of one of the most crucial sensors in current active safety - a lane detection camera.The work is focused on investigating approaches for modelling and simulation implementation of the lane estimation process within the black-box camera using reverse-engineering of the sensor's principles of operation. The main areas of analysis to define the factors that affect performance are the optics, image sensor, software and computer vision algorithms, and system interface. Each of them is considered separately and then methods for modelling are proposed, motivated, and derived accordingly. Finally, the finished model is evaluated to provide a measure of work success and a basis for further development.
Säkerhet är idag, tillsammans med effektivitet, en av de två starkaste förändringskrafterna i bilvärlden. Störst fokus ligger på avancerade aktiva säkerhetsfunktioner. Deras utveckling beror till stor del på kvaliteten på sensordata. En detaljerad modell för sensordata är ofta upp till fordonstillverkarna att härleda, eftersom tillverkare av sensorn ofta inte vill lämna ut sådan information. En modell ger inte bara ett mått på den verkliga prestandan hos sensorn, men ger också möjlighet till en högre grad av simuleringsnoggrannhet vilket är avgörande för utveckling av aktiva säkerhetsfunktioner. Tester är kostsamma och medför risker och en noggrann modell gör att tester kan utföras i simulering vilket minskar kostnader och risker. I denna avhandling härleds en sensormodell på uppdrag av Volvo Lastvagnar. Sensorn i fråga är en av de viktigaste sensorerna i det nuvarande aktiva säkerhetssystemet, kameran för att följa en körfil på vägen. Arbetet är fokuserat på undersökning av metoder för modellering och simulering av processen för filföljning baserat på sensorns funktionsprinciper. De viktigaste områdena för analys för att definiera de faktorer som påverkar prestanda är optik, bildsensorn, programvara, datorseendealgoritmer och systemets gränssnitt. Var och en av dessa behandlas separat och sedan föreslås och motiveras metoder för modellering. Slutligen utvärderas den färdiga modellen för att ge ett mått på hur framgångsrikt arbetet varit samt för att lägga en grund för ytterligare utveckling.

The thesis work was carried out at Volvo Group Trucks Technology in Göteborg, Sweden. Supervisor for GTT: Mansour Keshavarz.

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24

Bergkvist, Conny, and Stefan Wikner. "Self-organizing maps for virtual sensors, fault detection and fault isolation in diesel engines." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2757.

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This master thesis report discusses the use of self-organizing maps in a diesel engine management system. Self-organizing maps are one type of artificial neural networks that are good at visualizing data and solving classification problems. The system studied is the Vindax(R) development system from Axeon Ltd. By rewriting the problem formulation also function estimation and conditioning problems can be solved apart from classification problems.

In this report a feasibility study of the Vindax(R) development system is performed and for implementation the inlet air system is diagnosed and the engine torque is estimated. The results indicate that self-organizing maps can be used in future diagnosis functions as well as virtual sensors when physical models are hard to accomplish.

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25

Vandi, Damiano. "ADAS Value Optimization for Rear Park Assist: Improvement and Assessment of Sensor Fusion Strategy." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.

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The project for this thesis consists in an ADAS Value Optimization activity conducted during an internship in Maserati S.p.A. with the objective of removing the ultrasonic sensors used for the Rear Park Assist (RPA) ADAS feature, obtaining the same functionality and performance in the detection and signaling of obstacles behind the car through a new system based on a sensor fusion strategy between Rear View Camera (RVC) and Blind Spot Radars (BSD). To achieve this goal, a study of the current RPA feature has been conducted, and starting from a previous implementation of the sensor fusion strategy for the new system, multiple updates and improvements have been implemented in order to achieve the functionality and performance required. Both hardware and software components of the system were updated and redesigned in the MATLAB/Simulink environment, and the final system obtained was tested through a standard validation procedure in a virtual simulation environment, obtaining encouraging results compatible with the RPA requirements and demonstrating the technical and economic feasibility of the developed RPA system based on a sensor fusion strategy between RVC and BSD which, after additional tests on the actual vehicle, could go into production.

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26

Bahrieh, Sara. "Sensor Central / Automotive Systems." Thesis, Blekinge Tekniska Högskola, Sektionen för ingenjörsvetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-6012.

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How to display objects which were detected from different devices in one coordinate system? Nowadays most vehicles are equipped with front and back sensors to help the driver in driving process. Companies who provide this technology need to have an application which enables them for easy data fusion from these sensors and recording the process. Besides sensor’s design, programming of them is an important aspect. BASELABS Connect has the solution in a user friendly way. Creating Sensor Central component for BASELABS Connect is the main goal of this thesis. Sensor Central from BASELABS Connect requires six variables of sensor’s position for each sensor to demonstrate the objects from all sensors to one unique coordinate system. In this thesis, it was intended to create such a component which was mounted between all the sensors and the charting component to convert the objects location from different sensor’s position to one coordinate system and to be usable from other vehicles too.
www.baselabs.de

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27

Bezdíček, Jan. "Telemetrie pro formuli Dragon IV." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2014. http://www.nusl.cz/ntk/nusl-236045.

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The aim of this master's thesis was to design and construct complete telemetry system for the student formula Dragon IV constructed for international Formula Student competition. At first, the work deals with the measurement of the physical quantities, telemetry system and automotive sensors of the formula, their mutual communication and communication with the CAN bus. It also describes the procedure of hardware design including choosing right inertial sensors and a GPS module and their using in telemetry system. The work contains materials for production of two-layer printed circuit board extending the microcomputer BeagleBone Black on the inertial sensors and the GPS module. The bigger part of the telemetry system is the firmware for hardware and software for the computer user. Both written in programming language C++ and C# are included in this work as well. This user application serves for wireless receiving data from the hardware and their showing and logging. In addition this user application can be used for wireless hardware configuration. The final product is the complete telemetry system and it is suitable for selling to end customer.

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28

Lundquist, Christian. "Sensor Fusion for Automotive Applications." Doctoral thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71594.

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Mapping stationary objects and tracking moving targets are essential for many autonomous functions in vehicles. In order to compute the map and track estimates, sensor measurements from radar, laser and camera are used together with the standard proprioceptive sensors present in a car. By fusing information from different types of sensors, the accuracy and robustness of the estimates can be increased. Different types of maps are discussed and compared in the thesis. In particular, road maps make use of the fact that roads are highly structured, which allows relatively simple and powerful models to be employed. It is shown how the information of the lane markings, obtained by a front looking camera, can be fused with inertial measurement of the vehicle motion and radar measurements of vehicles ahead to compute a more accurate and robust road geometry estimate. Further, it is shown how radar measurements of stationary targets can be used to estimate the road edges, modeled as polynomials and tracked as extended targets. Recent advances in the field of multiple target tracking lead to the use of finite set statistics (FISST) in a set theoretic approach, where the targets and the measurements are treated as random finite sets (RFS). The first order moment of a RFS is called probability hypothesis density (PHD), and it is propagated in time with a PHD filter. In this thesis, the PHD filter is applied to radar data for constructing a parsimonious representation of the map of the stationary objects around the vehicle. Two original contributions, which exploit the inherent structure in the map, are proposed. A data clustering algorithm is suggested to structure the description of the prior and considerably improving the update in the PHD filter. Improvements in the merging step further simplify the map representation. When it comes to tracking moving targets, the focus of this thesis is on extended targets, i.e., targets which potentially may give rise to more than one measurement per time step. An implementation of the PHD filter, which was proposed to handle data obtained from extended targets, is presented. An approximation is proposed in order to limit the number of hypotheses. Further, a framework to track the size and shape of a target is introduced. The method is based on measurement generating points on the surface of the target, which are modeled by an RFS. Finally, an efficient and novel Bayesian method is proposed for approximating the tire radii of a vehicle based on particle filters and the marginalization concept. This is done under the assumption that a change in the tire radius is caused by a change in tire pressure, thus obtaining an indirect tire pressure monitoring system. The approaches presented in this thesis have all been evaluated on real data from both freeways and rural roads in Sweden.
SEFS -- IVSS
VR - ETT

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29

Vestin, Albin, and Gustav Strandberg. "Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-160020.

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Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, instead of filtering to estimate the true target states. With this method, validation data for online, causal, target tracking algorithms can be obtained for all traffic scenarios without the need of extra sensors. We investigate how non-causal algorithms affects the target tracking performance using multiple sensors and dynamic models of different complexity. This is done to evaluate real-time methods against estimates obtained from non-causal filtering. Two different measurement units, a monocular camera and a LIDAR sensor, and two dynamic models are evaluated and compared using both causal and non-causal methods. The system is tested in two single object scenarios where ground truth is available and in three multi object scenarios without ground truth. Results from the two single object scenarios shows that tracking using only a monocular camera performs poorly since it is unable to measure the distance to objects. Here, a complementary LIDAR sensor improves the tracking performance significantly. The dynamic models are shown to have a small impact on the tracking performance, while the non-causal application gives a distinct improvement when tracking objects at large distances. Since the sequence can be reversed, the non-causal estimates are propagated from more certain states when the target is closer to the ego vehicle. For multiple object tracking, we find that correct associations between measurements and tracks are crucial for improving the tracking performance with non-causal algorithms.

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Lundquist, Christian. "Automotive Sensor Fusion for Situation Awareness." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-51226.

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The use of radar and camera for situation awareness is gaining popularity in automotivesafety applications. In this thesis situation awareness consists of accurate estimates of theego vehicle’s motion, the position of the other vehicles and the road geometry. By fusinginformation from different types of sensors, such as radar, camera and inertial sensor, theaccuracy and robustness of those estimates can be increased.

Sensor fusion is the process of using information from several different sensors tocompute an estimate of the state of a dynamic system, that in some sense is better thanit would be if the sensors were used individually. Furthermore, the resulting estimate isin some cases only obtainable through the use of data from different types of sensors. Asystematic approach to handle sensor fusion problems is provided by model based stateestimation theory. The systems discussed in this thesis are primarily dynamic and they aremodeled using state space models. A measurement model is used to describe the relationbetween the state variables and the measurements from the different sensors. Within thestate estimation framework a process model is used to describe how the state variablespropagate in time. These two models are of major importance for the resulting stateestimate and are therefore given much attention in this thesis. One example of a processmodel is the single track vehicle model, which is used to model the ego vehicle’s motion.In this thesis it is shown how the estimate of the road geometry obtained directly from thecamera information can be improved by fusing it with the estimates of the other vehicles’positions on the road and the estimate of the radius of the ego vehicle’s currently drivenpath.

The positions of stationary objects, such as guardrails, lampposts and delineators aremeasured by the radar. These measurements can be used to estimate the border of theroad. Three conceptually different methods to represent and derive the road borders arepresented in this thesis. Occupancy grid mapping discretizes the map surrounding theego vehicle and the probability of occupancy is estimated for each grid cell. The secondmethod applies a constrained quadratic program in order to estimate the road borders,which are represented by two polynomials. The third method associates the radar measurementsto extended stationary objects and tracks them as extended targets.

The approaches presented in this thesis have all been evaluated on real data from bothfreeways and rural roads in Sweden.

IVSS - SEFS

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Vallur, Rajendran Avinash. "A Methodology for Development of Look Ahead Based Energy Management System Using Traffic In Loop Simulation." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1514828055131881.

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Goel, Shlok. "Research, Design, and Implementation of Virtual and Experimental Environment for CAV System Design, Calibration, Validation and Verification." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1595368946630713.

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Rosero, Luis Alberto Rosero. "Detecção de obstáculos usando fusão de dados de percepção 3D e radar em veículos automotivos." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-17042017-145443/.

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Este projeto de mestrado visa a pesquisa e o desenvolvimento de métodos e algoritmos, relacionados ao uso de radares, visão computacional, calibração e fusão de sensores em veículos autônomos/inteligentes para fazer a detecção de obstáculos. O processo de detecção de obstáculos se divide em três etapas, a primeira é a leitura de sinais de Radar, do LiDAR e a captura de dados da câmera estéreo devidamente calibrados, a segunda etapa é a fusão de dados obtidos na etapa anterior (Radar+câmera, Radar+LIDAR 3D), a terceira etapa é a extração de características das informações obtidas, identificando e diferenciando o plano de suporte (chão) dos obstáculos, e finalmente realizando a detecção dos obstáculos resultantes da fusão dos dados. Assim é possível diferenciar os diversos tipos de elementos identificados pelo Radar e que são confirmados e unidos aos dados obtidos por visão computacional ou LIDAR (nuvens de pontos), obtendo uma descrição mais precisa do contorno, formato, tamanho e posicionamento destes. Na tarefa de detecção é importante localizar e segmentar os obstáculos para posteriormente tomar decisões referentes ao controle do veículo autônomo/inteligente. É importante destacar que o Radar opera em condições adversas (pouca ou nenhuma iluminação, com poeira ou neblina), porém permite obter apenas pontos isolados representando os obstáculos (esparsos). Por outro lado, a câmera estéreo e o LIDAR 3D permitem definir os contornos dos objetos representando mais adequadamente seu volume, porém no caso da câmera esta é mais suscetível a variações na iluminação e a condições restritas ambientais e de visibilidade (p.ex. poeira, neblina, chuva). Também devemos destacar que antes do processo de fusão é importante alinhar espacialmente os dados dos sensores, isto e calibrar adequadamente os sensores para poder transladar dados fornecidos por um sensor referenciado no próprio sistema de coordenadas para um outro sistema de coordenadas de outro sensor ou para um sistema de coordenadas global. Este projeto foi desenvolvido usando a plataforma CaRINA II desenvolvida junto ao Laboratório LRM do ICMC/USP São Carlos. Por fim, o projeto foi implementado usando o ambiente ROS, OpenCV e PCL, permitindo a realização de experimentos com dados reais de Radar, LIDAR e câmera estéreo, bem como realizando uma avaliação da qualidade da fusão dos dados e detecção de obstáculos comestes sensores.
This masters project aims to research and develop methods and algorithms related to the use of radars, computer vision, calibration and sensor data fusion in autonomous / intelligent vehicles to detect obstacles. The obstacle detection process is divided into three stages, the first one is the reading of Radar, LiDAR signals and the data capture of the stereo camera properly calibrated, the second stage is the fusion of data obtained in the previous stage(Radar + Camera, Radar + 3D LIDAR), the third step is the extraction of characteristics of the information obtained, identifying and differentiating the support plane(ground) of the obstacles, and finally realizing the detection of the obstacles resulting from the fusion of the data. Thus it is possible to differentiate types of elements identified by the Radar and that are confirmed and united to the data obtained by computational vision or LIDAR (point cloud), obtaining amore precise description of the contour, format, size and positioning of these. During the detection task it is important to locate and segment the obstacles to later make decisions regarding the control of the autonomous / intelligent vehicle. It is important to note that Radar operates in adverse conditions (little or no light, with dust or fog), but allows only isolated points representing obstacles (sparse), where on the other hand, the stereo camera and LIDAR 3D allow to define the shapeand size of objects. As for the camera, this is more susceptible to variations in lighting and to environmental and visibility restricted conditions (eg dust, haze, rain). It is important to spatially align the sensor data, calibrating the sensors appropriately, to be able to translate data provided by a sensor referenced in the coordinate system itself to another coordinate system of another sensor or to a global coordinate system. This project was developed using the CaRINA II platform developed by the LRM Laboratory ICMC / USP São Carlos. Finally, the project was implemented using the ROS, OpenCV and PCL environments, allowing experiments with real data from Radar, LIDAR and stereo camera, as well as performing an evaluation of the quality of the data fusion and detection of obstacles with these sensors .

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Faisal, Yaameen. "Empirical Studies for the Design of Automotive Wireless Sensor Networks." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-20330.

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Nowadays more and more sensors are being incorporated into trucks. All of these sensors are interfaced with the ECU’s using wires. This increases the cost and complexity of installing the sensors. One alternative is to make the connection wireless. Therefore, AB Volvo technologies are researching on how to develop such a system. Currently it is at the initial stages. This thesis is a small part of this research.The main aim of this thesis is to identify the best gateway position for such a wireless sensor network at the chassis of the truck. To achieve this, a test platform was built, tests were performed and empirical link analysis was done. The platform makes use of an open source operating system called Contiki OS and uses IEEE 802.15.4 compliant transceivers. All the tests were conducted on a stationary truck. Moreover, all the tests conducted had 3 variables and they are gateway position, transmission power and truck mode.From the results obtained it was found that 2 gateway positions out of the total 3 tested are equally good. Furthermore, it was found that truck modes didn’t have any impact on the wireless link.

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Hoffman, Samuel Chase. "Automotive Suspension Parameter Estimation Using Smart Wireless Sensor Technology." DigitalCommons@CalPoly, 2008. https://digitalcommons.calpoly.edu/theses/20.

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This thesis project demonstrates the feasibility of using a smart sensor system to estimate vehicle parameters. It includes the development of the smart sensor system and the method for which vehicle parameters are estimated using this system. The smart sensor system is a wireless computer controlled sensor array that can be easily installed onto a vehicle. Parameter estimation was accomplished using grey box code in Matlab System Identification Toolbox, a software package from Mathworks. Front and rear suspension damping rates and pitch inertia were estimated on the 2008 Cal Poly SAE Baja Car with good accuracy during testing.

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Mathew, Vineet. "Radar and Vision Sensor Fusion for Vehicle Tracking." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1574441839857988.

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37

Mateychuk, Duane N. "A wideband aperture-coupled microstrip array for an automotive radar sensor." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/mq23414.pdf.

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38

Hoffman, Samuel Chase Ridgely John Robert. "Automotive suspension parameter estimation using smart wireless sensor technology : a thesis /." [San Luis Obispo, Calif. : California Polytechnic State University], 2008. http://digitalcommons.calpoly.edu/theses/20/.

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Thesis (M.S.)--California Polytechnic State University, 2008.
"May 2008." "In partial fulfillment of the requirements for the degree [of] Master of Science in Mechanical Engineering." "Presented to the faculty of California Polytechnic State University, San Luis Obispo." Major professor: John Ridgely, Ph.D. Accompanying CD-ROMs contain software files. Includes bibliographical references (leaf 61). Also available online and on microfiche (2 sheets).

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Khosrowjerdi, Hojat, and Sorin Dan Tatar. "Recovering and Modeling Sensor and Actuator Architecture in Automotive Embedded Systems." Thesis, KTH, Maskinkonstruktion (Inst.), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-168942.

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Under det senaste årtiondet har mängden kod som används i fordon ökat exponentiellt. På grund av detta skiftar bilindustrin mot att vara software-intensive. Som i de flesta mjukvaruintensiva branscher, drivs systemets utveckling i snabbtakt av marknadens krav. Återanvändningen av värdefull legacy-code är en effektiv metod för att minska tiden till marknaden. Vid Scania är mjukvaruutveckling främst baserat på en omfattande legacy plattform. I detta sammanhang är det nödvändigt för systemförståelse, återanvändning, underhåll, systemverifiering och säkerhetsanalys att upprätthålla en omfattande beskrivning av mjukvaruarkitekturen. Men för att skapa en sådan beskrivning behövs ytterligare resurser, och det är svårt att upprätthålla följdriktighet med föränderliga implementationer. Ett sättet att lösa detta problem är Reverse Engineering. Mjukvaruarkitekturen kan hämtas automatiskt från inbäddad källkod och presenteras på ett sätt som ärspecifikt för domänen.Denna avhandling är en del av ESPRESSO-projektet. En del av ESPRESSOprojektetgår ut på att återvinna lastbilens mjukvaruarkitektur från källkoden.Syftet med detta arbete är att utöka täckningen av arkitektursåterhämtningengenom att lägga till kopplingar mellan hård- och mjukvara. För att uppnå detta haren hårdvarumodell, inspirerad av EAST-ADL hårdvaru-meta-modell, utvecklats och använts i den befintliga infrastrukturen. Hårdvarumodellen användes för att samla in och bearbeta information för att lagra den i Neo4J grafdatabas. Förslag på användargränssnitttillhandahölls för interaktion med databasen, men implementationen var inte en del av examensarbetet. Utmaningarna under arbetets gång uppstod främst på grund av det faktum attvarje Scania-avdelning använder sin egen partiella systemmodell av lastbilsarkitekturen.Flera vyer och begrepp från olika avdelningar skulle slås samman i en enda modell. För att uppnå validering till en viss grad, användes databasen i samband med användargränssnittet. Gränssnittet var medelvärdet med vilket några scenarier kontrollerades både mot intern teknisk dokumentation och ingenjörer som arbetar med dessa system.
From the past decade onward, a trend has been seen in which the amount of code used in a vehicle is increasing exponentially. Because of this growing factor, the automotive industry is gradually shifting towards software-intensive. As in most software-intensive industries, the system’s evolution is driven at a fast pace by the market’s requirements. The re-usability of valuable legacy code is an effective method of reducing the time to market. In Scania, software development is predominantly based on an extensive legacy platform. In this context, maintaining a comprehensive software architecture description is necessary for system understanding, re-usability, maintenance, system verification and safety analysis. However, to develop such a description involves additional resources, and it is difficult to maintain consistency with evolving implementations. One way to solve this problem is Reverse Engineering. The software architecture can be retrieved automatically from embedded source code and presented in a manner specific to the domain. This thesis is part of the ESPRESSO project. One part of ESPRESSO is to recover the truck’s software architecture from source code. The objective of this work is to extend the coverage of the architecture recovery by adding connections between hardware and software. To achieve this, a hardware model, inspired by the EAST-ADL hardware meta-model, has been developed and employed in the existing infrastructure. The hardware model was used to gather and process information in order to store it to the Neo4J graph database. User interface suggestions were provided for querying, but the implementation was not part of the thesis. The challenges facing this work arose mainly due to the fact that each Scania department uses its own partial system model of the truck’s architecture. Multipleviews and concepts from different departments had to be merged in a single model. To achieve validation to a certain degree, the populated database was used in connection with the user interface. The interface was the mean by which a few scenarios were checked both against internal technical documentation and the engineers that are working with those systems.

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Ciampa, Paulo Fracalossi. "Projeto e desenvolvimento de um sensor MAP de pressão e temperatura em LTCC para aplicações automotivas." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/3/3140/tde-26082011-144842/.

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Este trabalho apresenta um módulo sensor de pressão absoluta do duto de admissão (MAP) para aplicações automotivas desenvolvido em substrato cerâmico LTCC. Em um veículo com sistema de injeção eletrônica de combustível, o sensor MAP informa a unidade de controle do motor sobre a pressão no duto de admissão permitindo o cálculo da vazão de ar e o ajuste da injeção de combustível. O sensor desenvolvido possui circuitos eletrônicos para a aquisição de sinais analógicos e digitais, realiza o condicionamento de sinal, a calibração e compensação de temperatura através de processamento digital, que permitem a indicação de pressões de 0 a 100kPa na faixa de temperaturas de -40 a +125ºC. Utilizou-se um elemento sensor de pressão piezorresistivo com membrana micro fabricada em silício e um sensor resistivo de temperatura. São apresentadas: a topologia do circuito, a construção, caracterização e testes. O protótipo apresenta precisão melhor do que 1,5% FE em pressão e 0,5% em temperatura. O teste de diferentes sensores de pressão e diferentes funções de transferência é facilmente realizado através de um circuito versátil que permite a alteração via programa. A montagem em cerâmica LTCC é realizada e é desenvolvida uma técnica de montagem do sensor de pressão MEMS em flip-chip, com excelentes resultados. Finalmente, é apresentado o teste em operação real em um veículo.
This paper presents a manifold absolute pressure (MAP) sensor module developed on LTCC substrate. In electronic fuel injection systems, a MAP sensor measures the vacuum at the engine intake manifold, allowing the electronic control unit to calculate mass flow and control the fuel injection. The sensor developed is composed by electronic circuits for analog signal acquisition and generation, digital signal processing and features software calibration and temperature-compensated pressure indications from 0 to 100kPa in the -40 to +125ºC temperature range. It is presented the assembly of a MEMS silicon pressure sensor and a thermistor on ceramic substrate and also the circuit topology, construction, characterization and tests. The prototype exhibits full scale accuracy better than 1.5% for pressure and 0.5% for temperature measurements. Tests are easily performed with different pressure sensors and different transfer functions due to a versatile circuit which enables software updates. The assembly on LTCC ceramic substrate is performed and an innovative flip-chip assembly technique is developed for MEMS pressure sensors, with excellent results. Finally, it is presented the test on a real vehicle.

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Katranas, George Spyridon. "Design and development of bilayer sensor systems for biomedical and automotive applications." Thesis, Cardiff University, 2006. http://orca.cf.ac.uk/54571/.

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This investigation concerned the design and development of a novel measurement system that incorporates bilayer sensors for monitoring applications in the biomedical and automotive industry. The bilayer sensors are made primarily from a configuration of soft magnetic material on a non magnetic substrate that is used to enhance the changes in the relative permeability of the material, caused by tensile or compressive stresses. Three modulation techniques were examined as a method for convening the sensor signal information this is the first use of the phase (PM) and frequency (FM) modulation methods in conjunction with bilayer sensors. The measurement system incorporated, in software code, a range of mathematical concepts used for extracting and processing the sensor information signal. The use of simulated and acquired modulation signals allowed the comparison of the modulation techniques. Optimisation of the bilayer sensor was considered by studying the effects of the bilayer sensor physical dimensions and parameters on its performance. Also the thermal stability of the bilayer sensor and FM system was examined. Physiological measurements for the detection and monitoring of cardio respiratory activities were conducted. A bilayer sensor measurement system was used for the first time not only to detect but also to map the normal heartbeat rate through the hemo-dynamics of the carotid artery. The system was used to monitor a range of respiratory activities such as normal respiration, deep inhalation/exhalation and apnoea. The application of the sensor is a non-invasive and a non-disturbing method for monitoring biomedical activities related to skin curvature changes. The bilayer sensor measurement system was used for monitoring of airflow in turbulent conditions. Measurements were conducted for a variety of airflows and at a range of distances from the centre of the tube, were the flow is at maximum. Furthermore the effect of substrate thickness and material choice was investigated on the performance of the sensor. This investigation led to the design and construction of a novel measurement system than can successfully detect and quantify displacements in the micron range. The application of this system to biomedical and automotive applications showed the universality and adaptability of the bilayer sensors and its measurement method.

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42

Nefzger, Matthias. "Design and development of a low-cost smartphone-based research platform for real-world driving studies." Thesis, Ludwig-Maximilians University of Munich (LMU), 2017. https://eprints.qut.edu.au/104238/1/MSc%20Thesis%20Matthias%20Nefzger.pdf.

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Naturalistic driving studies as a method to explore driving and driver behaviour in a natural environment have become increasingly popular in road safety research. However, data acquisition systems needed for these studies are expensive and require a profound technical expertise for the installation. This thesis reports on an alternative approach towards more affordable naturalistic driving studies – a smartphone-based system called Sensor Platform that leverages the phone’s sensors as well as external sensors to gather relevant driving data. In close cooperation with road safety experts, this project aimed to specify the requirements for such a system, develop a prototype, and evaluate from an user perspective as well as from a technical point of view. A focus group and an in-vehicle user study were conducted to gather the expert’s feedback. In order to judge the accuracy of Sensor Platform, a comparison to an industry-grade data acquisition system was performed on the real road. The analysis of the study data suggests that road safety experts like the high usability and value the time savings. Yet, in comparison to industry-grade data acquisition systems, Sensor Platform is not on par when it comes to data accuracy, mainly due to simpler filtering algorithms. All in all, the thesis adds to the knowledge of mobile data acquisition systems while also providing a basis for future road safety applications such as real-time interventions.

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Uphoff, Jan Luca. "Introduction to automotive FMCW Radar Technologies : Using Texas Instruments mmWave AWR sensor series." Thesis, Blekinge Tekniska Högskola, Institutionen för tillämpad signalbehandling, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16266.

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The goal of the following thesis is to transfer radar basic theory in a practical work using Texas Instrument’s mmWave radar series. The range of practical applications for FMCW radars has increased, for example in automotive sector. Understanding the basics of radar mathematics in a simplified way, as well as the transfer from theory to practical work is important for any engineer working on radar projects. Even if the theory is known, the way from a theory to a running system can be hard, facing several problems, because the reality is limited. In two experiments, data from the radar is collected while cars are crossing the observation area of the radar.The data is then used to count the number of vehicles passing the observation area and to estimate the movement of the objects in the field of view.

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Mendonça, Lucas Gonçalves Dias. "Micro-sensor capacitivo para avaliação da qualidade de combustíveis automotivos." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-30092008-173401/.

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Neste trabalho é proposto um sensor capacitivo do tipo eletrodos interdigitados para avaliação da qualidade de combustíveis automotivos. Os eletrodos interdigitados apresentam algumas características adequadas ao sensor em questão. Entre elas o fato de elevar significativamente a capacitância por apresentar grande quantidade de capacitores em paralelo e de ser uma estrutura possível de se fabricar por processos convencionais de microfabricação. Além disso, esses eletrodos permitem que o combustível preencha seus espaçamentos funcionando como seu dielétrico. Foram feitas modelagens e simulações do sensor para verificação da influência de diversos parâmetros de projeto. Protótipos foram fabricados em substratos de alumina com eletrodos de níquel eletrodepositado. Os eletrodos têm larguras entre 50m e 100m, com espaçamento entre eletrodos tendo valores dessa mesma ordem. O comprimento dos eletrodos é de 800m. A altura dos eletrodos varia entre 20m e 40m. O sensor como um todo tem área em torno de 4cm². Foram realizadas medições com misturas álcool e água, gasolina e álcool, gasolina e querosene entre outras. As caracterizações mostraram bons resultados comprovando a validade do princípio proposto. O sensor se mostrou capaz de detectar os tipos de adulteração mais comuns no Brasil, adição de água ao álcool combustível e adição solventes orgânicos ou de álcool além do permitido à gasolina.
This work proposes a capacitive sensor with interdigitated electrodes in order to evaluate the quality of automotive fuel. Interdigitated electrodes have some interesting features for this type of sensor. Among them, they increase the capacitance by having several capacitors in parallel, and by having a structure feasible to be manufactured by conventional microfabrication processes. In addition, automotive fuel, serving as the dielectric material, fills the gaps of the electrodes. Modeling and computational simulations of the sensor were carried out in order to realize the influence of several design parameters. Samples were manufactured using alumina substrates with electroplated nickel electrodes. The width of the electrodes was chosen to be between 50m and 100m, with gaps of similar size. The paired length of the electrodes was 800m. The height of the electrodes varied between 20m and 40m. The whole sensor was around 4cm² in area. Several measurements were carried out using mixtures of alcohol and water, gasoline and alcohol, gasoline and kerosene, and others. Characterizations showed good results, validating the method. The sensor was capable of detecting the main types of fuel adulteration used in Brazil: addition of water to alcohol, and addition of organic solvents or alcohol to gasoline beyond the acceptable limit.

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Aquilanti, Claudia. "Sensor Fusion of GPS and speed information for low-cost automotive positioning and navigation." Thesis, KTH, Signalbehandling, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-53767.

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Global navigation satellite systems, such as the Global Positioning System (GPS) are nowadays widespread in the consumer and professional fields. To guarantee the desired accuracy, availability, integrity and robustness performance, it is necessary to add to GPS receivers aiding systems, like extra sensors, which can be expensive. In order to reduce the expenses, a low-cost alternative aiding system is here presented. The main idea is to extract the information needed to support the GPS services from an easily measurable signal as the one provided by the power supply of a car. This signal has a frequency component related to the rpm speed of the engine, thus it can be used to estimate the speed, and related states, when the GPS service is unavailable for some reason. Unfortunately, the frequency component isequal to the speed measured by the GPS up to a scale factor dependent on the gear engaged, so it is necessary to estimate over time these scale factors in order to use the information. In this thesis project we implemented an off-line system which leads to the estimation over time of the scale factors. A sensor fusion solution has been used: training data consisting only of speed measurement provided by the GPS and measurements of the signal of interest are processed through a bench of five Kalman Filters (one for each gear) which leads to the estimation of the scale factors. Three measurement campaigns with three different cars have been conducted in order to collect an exhaustive amount of datasets necessary to calibrate and then validate the system.

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LJUNGBERG, SEBASTIAN, and FREDRIK SCHALLING. "Benchmarking of a LiDAR Sensor for use as Pseudo Ground Truth in Automotive Perception." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263216.

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Environmental perception and representation are among the most critical tasks in automated driving. To meet the high demands on reliability from clients and the needs of safety standards, such as ISO 26262, there is a need for automated quantitative evaluation of perceived information. However, the typical evaluation methods currently being used, such as a comparison with Ground Truth (GT), is not feasible in the real world. Creating a substitute for GT with annotated data is not efficiently scalable due to the manual effort involved in evaluating the sheer number of scenarios, environmental conditions, etc. Hence, there is a need to automate the generation of data used as GT. This thesis focuses on a methodology to generate a substitute for GT data, named Pseudo Ground Truth (PGT), with a LiDAR sensor and to identify the precautions needed if this PGT is to be used in the development of perception systems. This thesis aims to assess the proposed methodology in a common scenario. The limitations with the LiDAR sensor are analyzed by performing a Systematic Literature Review (SLR) on available academic texts, conducting semi-structured interviews with experts from one of the largest heavy vehicle manufacturers in Europe, Scania CV AB and lastly implementation of an experimental algorithm to create a PGT. The main contributions are 1) a list of found limitations with the current LiDAR sensors from a SLR and semi-structured interviews and 2) a proposed methodology, which assesses the use of a LiDAR sensor as GT in a scenarios coupled with a set of precautions that has to be taken if the method were used in the development of new perception systems.
Perception och representation av omgivningen är några av de viktigaste underfunktionerna i självkörande fordon. För att möta de högt ställda kraven på noggrannhet och stabilitet från kunder och samtidigt kraven för funktionell säkerhet som ISO 26262, finns det ett behov att automatisera kvantitativ utvärdering av samlad information. Användningen av typiska utvärderingsmetoder som jämförelse med en Sanning (GT) är inte möjligt i verkligheten. En GT baserad på annoterad data är inte effektivt skalbar på grund av det manuella arbetet som är involverat i utvärderingen av de stora antalet av scenarion, klimatförhållanden, etc. Det finns därför ett behov av att automatisera genereringen av en GT skapad av samlad mätdata. Den här studien fokuserar på en metodik för att generera en Pseudo Sanning (PGT) med en LiDAR sensor och identifiera de åtgärderna som behöver tas om PGTn ska användas i utvecklingen av ett perceptionssystem. Studien har som mål att utvärdera den föreslagna metodiken i ett vanligt förekommande scenario. Begränsningarna med LiDAR sensorn är analyserade genom en Systematisk Literatursökning (SLR) på tillgängliga akademiska texter, semi-strukturerade intervjuer med experter på en av de största tillverkarna av tunga fordon i Europa, Scania CV AB och slutligen implementering av en experimentell algoritm för att skapa en PGT. Huvudbidragen är 1) en lista med begränsningar av nuvarande LiDAR sensorer funna genom en SLR och semistrukturerade intervjuer och 2) en föreslagen metod som utvärderar användandet av en LiDAR sensor som GT i ett scenario, tillsammans med åtgärder som behöver tas om metoden skulle användas i utvecklingen av perceptionssystem.

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Belgiovane, Domenic John Jr. "Advancing Millimeter-Wave Vehicular Radar Test Targets for Automatic Emergency Braking (AEB) Sensor Evaluation." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511867574425366.

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Grothmann, Benjamin [Verfasser]. "Online Detection and Compensation of Sensor-Faults in Electric Drives for Automotive Applications / Benjamin Grothmann." Aachen : Shaker, 2019. http://d-nb.info/1188551035/34.

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Sutela, Cory. "The development of a fast response CO/CO₂ sensor and its application to automotive engines." Thesis, University of Cambridge, 2001. https://www.repository.cam.ac.uk/handle/1810/272313.

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Welte, Anthony. "Spatio-temporal data fusion for intelligent vehicle localization." Thesis, Compiègne, 2020. http://bibliotheque.utc.fr/EXPLOITATION/doc/IFD/2020COMP2572.

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La localisation précise constitue une brique essentielle permettant aux véhicules de naviguer de manière autonome sur la route. Cela peut être atteint à travers les capteurs déjà existants, de nouvelles technologies (Iidars, caméras intelligentes) et des cartes haute définition. Dans ce travail, l'intérêt d'enregistrer et réutiliser des informations sauvegardées en mémoire est exploré. Les systèmes de localisation doivent permettre une estimation à haute fréquence, des associations de données, de la calibration et de la détection d'erreurs. Une architecture composée de plusieurs couches de traitement est proposée et étudiée. Une couche principale de filtrage estime la pose tandis que les autres couches abordent les problèmes plus complexes. L'estimation d'état haute fréquence repose sur des mesures proprioceptives. La calibration du système est essentielle afin d'obtenir une pose précise. En gardant les états estimés et les observations en mémoire, les modèles d'observation des capteurs peuvent être calibrés à partir des estimations lissées. Les Iidars et les caméras intelligentes fournissent des mesures qui peuvent être utilisées pour la localisation mais soulèvent des problèmes d'association de données. Dans cette thèse, le problème est abordé à travers une fenêtre spatio-temporelle, amenant une image plus détaillée de l'environnement. Le buffer d'états est ajusté avec les observations et toutes les associations possibles. Bien que l'utilisation d'amers cartographiés permette d'améliorer la localisation, cela n'est possible que si la carte est fiable. Une approche utilisant les résidus lissés a posteriori a été développée pour détecter ces changements de carte
Localization is an essential basic capability for vehicles to be able to navigate autonomously on the road. This can be achieved through already available sensors and new technologies (Iidars, smart cameras). These sensors combined with highly accurate maps result in greater accuracy. In this work, the benefits of storing and reusing information in memory (in data buffers) are explored. Localization systems need to perform a high-frequency estimation, map matching, calibration and error detection. A framework composed of several processing layers is proposed and studied. A main filtering layer estimates the vehicle pose while other layers address the more complex problems. High-frequency state estimation relies on proprioceptive measurements combined with GNSS observations. Calibration is essential to obtain an accurate pose. By keeping state estimates and observations in a buffer, the observation models of these sensors can be calibrated. This is achieved using smoothed estimates in place of a ground truth. Lidars and smart cameras provide measurements that can be used for localization but raise matching issues with map features. In this work, the matching problem is addressed on a spatio-temporal window, resulting in a more detailed pictur of the environment. The state buffer is adjusted using the observations and all possible matches. Although using mapped features for localization enables to reach greater accuracy, this is only true if the map can be trusted. An approach using the post smoothing residuals has been developed to detect changes and either mitigate or reject the affected features

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