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Cooperative vehicle safety.

機譯：協(xié)作車輛安全。

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In this dissertation, first the concept of Cooperative Vehicle Safety (CVS) is introduced and explained. The CVS concept provides warnings or situation awareness displays to drivers based on information about the motions of neighboring vehicles obtained by wireless communications from those vehicles, without use of any ranging sensors. This has the advantage of being a potentially inexpensive set of onboard vehicle equipment (compared to ranging sensors that could provide 360 degree coverage), as well as providing information from vehicles that may be occluded from direct line of sight to the approaching vehicle.;We present the architecture of the system. The architecture consists of four major sub-systems: (1) "Estimator": that estimates the states of the vehicle. (2) "Neighboring Vehicle Map": that is responsible for broadcasting messages to the neighboring vehicles as well serving information about the neighboring vehicles. (3) "Safety Applications": that receive information from the above two components, (4) "In-Vehicle Display": that is the interface to the driver.;In this dissertation, we present novel solutions for sub-systems 1 and 2 in order to enable CVS.;With respect to the "Estimator", we design an extended Kalman filter for vehicle positioning with lane-level accuracy. We present data from approximately 60 kilometers of driving in urban environments including stops, intersection turns, U-turns, and lane changes, at both low and high speeds. The data show that the filter estimates position, speed, and heading with the accuracies required by CVS.;The estimator design was implemented in the CVS prototype built by the University of California Partners for Advanced Transit and Highways (PATH) and General Motors Research and Development in 2004. The prototype consisted of five vehicles equipped with CVS technology. We describe the prototype and highlight the main technical challenges to be overcome for large scale implementation. This dissertation addresses the challenges.;With respect to the "Neighboring Vehicle Map", we first study the pre-crash geometries of various crashes that might be ameliorated by CVS. We perform the crash analysis in order to find the set of requirements on communications in between cars. We categorize all types of driving environments into two major environments: Intersection and Non-Intersection. For each case, we identify the minimum set of neighbors for vehicular communication.;Next, we design the vehicular data exchange protocol for CVS. The protocol specifies: content of the communication messages, communication policy, and communication range. The communication policy is based on threshold crossing policy. The communication range alternates between a maximum pre-defined range (e.g. 500 meters) and an adaptive range.;Finally, we investigate performances of several communication schemes for position tracking of neighboring vehicles via large scale traffic and network simulation. We use application level reliability performance metrics. Our performance measure metrics include communication losses.
機譯：本文首先介紹并解釋了協(xié)同車輛安全（CVS）的概念。 CVS概念基于通過無線通信從相鄰車輛的運動獲得的信息，向那些駕駛員提供警告或情況感知顯示，這些信息不使用任何測距傳感器。這樣做的好處是，它可能是一套潛在的廉價車載設備（與可以提供360度覆蓋的測距傳感器相比），并且可以提供來自可能被直接視線擋住的車輛信息。介紹系統(tǒng)的架構(gòu)。該體系結(jié)構(gòu)由四個主要子系統(tǒng)組成：（1）“估計器”：估計車輛的狀態(tài)。 （2）“相鄰車輛地圖”：負責向相鄰車輛廣播消息以及提供有關相鄰車輛的信息。 （3）“安全應用程序”：接收來自上述兩個組件的信息；（4）“車內(nèi)顯示”：這是駕駛員的接口。 2以啟用CVS 。；關于“估計器”，我們設計了擴展的卡爾曼濾波器，用于車道級精度的車輛定位。我們提供了城市環(huán)境中大約60公里行駛的數(shù)據(jù)，包括低速和高速時的停車站，交叉路口轉(zhuǎn)彎，掉頭和車道變更。數(shù)據(jù)顯示，該過濾器以CVS所需的精度估算位置，速度和航向;估算器設計是在由加利福尼亞大學高級交通與公路合作伙伴（PATH）和通用汽車研究公司（GM）建造的CVS原型中實施的2004年研發(fā)。原型車由五輛配備CVS技術的車輛組成。我們描述了原型并強調(diào)了大規(guī)模實施所要克服的主要技術挑戰(zhàn)。本文針對這些挑戰(zhàn)進行了研究。關于“相鄰車輛圖”，我們首先研究了CVS可能會改善的各種碰撞的碰撞前幾何形狀。我們執(zhí)行碰撞分析，以查找對汽車之間的通信的一組要求。我們將所有類型的駕駛環(huán)境分為兩個主要環(huán)境：交叉路口和非交叉路口。對于每種情況，我們確定用于車輛通信的最小鄰居集。接下來，我們設計用于CVS的車輛數(shù)據(jù)交換協(xié)議。該協(xié)議指定：通信消息的內(nèi)容，通信策略和通信范圍。通信策略基于閾值穿越策略。通信范圍在最大預定義范圍（例如500米）和自適應范圍之間交替變化;最后，我們通過大規(guī)模交通和網(wǎng)絡仿真研究了幾種用于相鄰車輛位置跟蹤的通信方案的性能。我們使用應用程序級別的可靠性性能指標。我們的績效指標包括通訊損失。

著錄項

  • 作者

    Rezaei, Shahram.;

  • 作者單位

    University of California, Berkeley.;

  • 授予單位 University of California, Berkeley.;
  • 學科 Engineering Automotive.;Engineering Civil.;Transportation.
  • 學位 Ph.D.
  • 年度 2008
  • 頁碼 137 p.
  • 總頁數(shù) 137
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類 自動化技術及設備;建筑科學;綜合運輸;
  • 關鍵詞

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