Unmanned Car Research Articles

Driverless holographic simulation test integrated environment design

Abstract Aiming at the design problem of simulation test integrated environment for unmanned car, starting from the four aspects of unmanned simulation test [1], real scene quiz, scene analysis and layout, and data visualization and processing, through the combination of software and hardware, the use of various types of sensors, controllers, communication equipment, etc. for collaborative management of unmanned car driving, and the use of intelligent networked cars to collaboratively verify the multi-class algorithms and driving programs, and continuously improve the Overall environment design [2] [3], the integrated environment design is getting better and better. This overall environment is tested based on carla’s Apollo autonomous driving simulation software, and the test results show that the recognition accuracy rate reaches 87% and the simulation rate reaches 91%, etc. It shows that the unmanned holographic simulation test integrated environment technology program is feasible.

Примитивы движения робота в задаче планирования траектории с кинематическими ограничениями

Automatic trajectory planning is an urgent scientific and technical problem, whose solutions are in demand in many fields: unmanned transportation, robotic logistics, social robotics, etc. Often, when planning a trajectory, it is necessary to consider the fact that the agent (robot, unmanned car, etc.) cannot arbitrarily change its orientation while moving, in other words, it is necessary to consider kinematic constraints when planning. One widespread approach to solving this problem is the approach that relies on the construction of a trajectory from prepared parts, motion primitives, each of which satisfies kinematic constraints. Often, the emphasis in the development of methods implementing this approach is on reducing the combinations of choices in planning (heuristic search), with the set of available primitives itself being regarded as externally defined. In this paper, on the contrary, we aim to investigate and analyze the effect of different available motion primitives on the quality of solving the planning problem with a fixed search algorithm. Specifically, we consider 3 different sets of motion primitives for a wheeled robot with differential drive. As a search algorithm, the A* algorithm well known in artificial intelligence and robotics is used. The solution quality is evaluated by 6 metrics, including planning time, length and curvature of the resulting trajectory. Based on the study, conclusions are made about the factors that have the strongest influence on the planning result, and recommendations are given on the construction of motion primitives, the use of which allows to achieve a balance between the speed of the planning algorithm and the quality of the trajectories found.

Multiview Fusion 3D Target Information Perception Model in Nighttime Unmanned Intelligent Vehicles

Unmanned technology is an important development project of today’s cutting-edge science and technology, which has a significant impact on social and economic development, national defense construction, and scientific and technological development. The rapid development of industrial information technology has driven the unmanned intelligent vehicle system to innovate and gradually enter the public’s view, and at the same time, the driving safety of unmanned intelligent vehicles is also widely concerned. Target information perception system is the foundation of unmanned system and the fundamental guarantee of safety and intelligence of unmanned vehicles. There are three key problems of target recognition in unmanned driving, namely, target classification, localization, and attitude determination. In the implementation of a networked virtual environment system, a flexible and complete perception model is needed as the guiding model of the system. Since 3D point cloud data can provide more spatial information than 2D RGB image data, it is more beneficial to determine the target category, position, and pose in 3D. In this paper, based on the existing research of unmanned intelligent vehicle perception system, we combine the application of fusion of 3D target information perception model and develop a nighttime unmanned system based on multiview fusion of 3D target information perception model. This system can simultaneously perform the detection of multiple categories of objects and predict the center point, length, width, height, and orientation of the objects, so that the unmanned car can sense the location of the surrounding objects when driving in the actual scene.

Intelligent Control System of Unmanned Vehicle Based on CAN Controller

In order to enable the driverless vehicle formation controller to automatically control the driving of the fleet, an intelligent driverless vehicle control system based on the CAN controller is proposed. Expansion convolution of different expansion rates is used to obtain multi-scale target information and to fuse the feature information at different scales during upsampling to enrich the semantic information. Finally, the driverless CAN bus communication platform was established, the driverless monitoring interface was developed, and the software program was written; experiments on the steering control, speed control, voltage, current, speed, and angular speed acquisition, respectively, were performed. The experimental results show that the average semantic segmentation accuracy of the obstacles in concentrated vehicles, pedestrians, and bicycles reached 84.6%, and the detection and segmentation accuracy of the models was good. Therefore, the unmanned intelligent vehicle control system designed in this paper can meet the performance requirements of the vehicle control. No matter whether the given desired path is a straight line or a curve, the unmanned car can complete the path tracking control quickly, stably, and accurately.

DRIVER OR AUTOPILOT – WHO IS THE FUTURE

The human factor is the main element in the production of road events, not only in terms of percentage, but also in absolute importance, because, ultimately, road and technical issues are involved in road accidents only in strict accordance with the behavior and the direct action of the driver, who, within the road traffic system, is more variable and unpredictable than the vehicle, road and environmental factors. The driver is guilty of 70-90% of the total number of road accidents. More than a third of people killed and injured in road accidents worldwide are drivers. The article describes the role of the driver in the DVRE system, the risk factors and the causes contributing to the occurrence of road accidents. A brief analysis of road accident statistics due to drivers in the Republic of Moldova and around the world is performed. It also describes the evolution of the unmanned car and other innovative technologies and ideas for automating car driving.

Research on the use intention of potential designers of unmanned cars based on technology acceptance model.

The success of unmanned car, an emerging tool of transportation with so many advantages, depends to a large extent on its user acceptability. Potential designers are both the decision makers of driverless car design and the users of driverless cars. This study aims to explore the influencing factors of the potential designers’ intention to use unmanned cars. Based on the theory of Technology Acceptance Model (TAM), this study further expanded the TAM by incorporating perceived trust, perceived enjoyment and self-efficacy, so as to explain and predict potential designers’ intention to use unmanned cars. The questionnaire is determined through theoretical literature, pre-tests, etc., and the Structural Equation Model is used to analyze the data of 202 valid survey samples to investigate the influencing factors of the willingness to use unmanned vehicles. The results show that potential designers’ intention to use unmanned cars is positively affected by perceived trust, perceived enjoyment, perceived usefulness and perceived ease of use, and perceived trust has a positive effect on perceived ease of use, self-efficacy and perceived ease of use also have a positive effect on perceived usefulness. The findings of this study can provide designers and developers of unmanned cars, policy makers and implementers with guidance in the follow-up design, policy formulation and advertising of unmanned cars.

Real-time diagnostic complex of automated car active safety system unit

The article is concerned with the created variety of methods of drivegear active safety car system test. The analysis of factors of electronic control stability system test is displayed, as well as main disadvantages and test factors, characteristics and general terms. The system description is indicated, which gives opportunity to test active safety system. In the same way, it is possible to solve the problem of timely risk detection for key components, assemblies, and vehicle systems. And if in the traditional Driver-Car system an experienced driver can “feel” a possible malfunction, then an unmanned car has nothing but its own systems. In this case, it becomes obvious that on-board equipment is needed that monitors the state of the braking system and ABS in real time. As described above, the existing on-board diagnostic equipment does not provide the necessary information. The introduction of an additional diagnostic complex will allow tracking and detecting system failures. This system can be used with a “digital twin”

Autonomous Car as a Source of Damage: Civil Law Aspect

The purpose of the article is to determine the civil legal features of an autonomous car as a source of damage. When developing a computer program responsible for driving an autonomous car, the issue of its compliance with ethical standards (morality) should be resolved. That is, to develop the ethics of artificial intelligence taking into account the priority in the selection of the population of a particular region. It is noted that there is a legislative basis for the use of autonomous cars in many states (the USA, the Netherlands, Great Britain, France and Germany). Ukraine has no legislation allowing such self-driving cars to be used on the roads of the country, where a driver must steer a car. According to automobile experts, the use of autonomous cars in Ukraine is also impossible due to the unsatisfactory state of its roads. It was concluded that the technology of development and use of autonomous cars should be supervised by the Government by developing uniform requirements both for the cars and the software. Such a document was adopted by the Parliament of Great Britain. The issue of compensation for damage caused by such a vehicle is decided in accordance with the Civil Code of Ukraine. It has been concluded that an autonomous car is a special vehicle as it is controlled by a computer. Neither the car manufacturer nor its software developer can be regarded as subjects of civil liability for the damage caused by an unmanned car. This conclusion is grounded on the fact that autonomous car is a source of increased risk as it has the following features: damage-causing properties; impossibility of complete control on the part of the person over the manifestation of damage-causing properties of material objects; increased probability of causing the damage. The subject of civil liability for damage caused by an autonomous car as a source of increased danger is a person who, on an appropriate legal basis, owns the vehicle. The owner of an autonomous car has the right to apply with a reverse claim (regression) to his manufacturer due to defects of the goods.

Innovative Development of Intelligent Transport Systems Based on Biocybernetical Vehicle Control Systems

In recent years rapid development of unmanned vehicles enables to set a task of creating prospective intelligent transportation systems (ITS) based on unconventional, hybrid approaches enabling to combine macro traffic control (T) at road and transport conditions with fine adjustment at the micro-level of physiological and intellectual actions and decisions taken by the driver. The work presents grounds for creating a biocybernetical management system as an innovative development of unmanned cars to ensure traffic safety. It examines a uniquely designed architecture of the biocybernetical management system together with hardware and software architecture and the structure of the unmanned car system based on it.

Research on Collision Avoidance Method of Car Anti-Head-and-Rear Based on Safe Distance Model

The present rear-end collision accident proportion on the road increases day after day, car collision avoidance system is more and more paid attention. Analysising the existing car collision avoidance system, we propose a car anti-collision algorithm based on safe distance model in this paper. This method takes the influence factors of safety distance for main parameters which fully considers the speed change and the acceleration change of the car 1 and the car 2. It may realize real-time information acquisition and warning judgment according to the state of car 2, the car could automatic braking if necessary. VB simulation shows that the algorithm can effectively avoid collision, also automatically maintain the distance between vehicles, and lay a foundation for further research on the unmanned car.

Drive system using a shape memory alloy wire

A new drive system using shape memory alloy(SMA) wire is introduced in this paper. The system is designed for a car with the shape recovery force of SMA wire. A loop of SMA wire processed to memorize the straight line is set around a large pulley and a small one. When the wire around the small pulley is heated partially with hot vapor, it generates the recovery force at the heated part of the wire and turn to the torque to run the pulley. A bundle of wires can produce larger torque and it is possible to make SMA heat engine with the torque. In this study, the factors related to the rotational speed, such as diameter of small pulley, wire loop number and room temperature, were investigated. Moreover the relationship between wire loop number and torque too. It shows that the factors plays very important role. The speed of the unmanned car reached a few kilometers per hour.