Vehicle following can be achieved by minimizing the relative information (Kullback-Leibler or K-L distance), between the estimated poses of leader and follower vehicles. To achieve successful vehicle following, a Bayesian formulation for the system has been derived, and two probabilistic distributions, one for each vehicle's pose, can be obtained. Based on the assumption that the two pose distributions are Gaussian functions, the K-L distance of the vehicle following system can be computed with these two computed distributions. With a series of achievable actions, such as steering and velocity commands, for the follower vehicle at each pose prediction step, and by minimizing the K-L distance, an optimized action for the follower vehicle can be obtained. The information theoretic vehicle following algorithm has been tested under a simulated environment by analyzing the performance of the follower vehicle when the leader vehicle undergoes various kinds of maneuvers. The simulated experimental results validate that the follower is able to trail the trajectories of the leader vehicle satisfactorily and at the same time maintain a safe following distance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Information Theoretic Vehicle Following System


    Beteiligte:


    Erscheinungsdatum :

    2007-06-01


    Format / Umfang :

    534208 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    An Information Theoretic Vehicle Following System

    Ng, T.C. / Adams, M. / Ibanez-Guzman, J. et al. | British Library Conference Proceedings | 2007


    Game theoretic approach for predictive lane-changing and car-following control

    Wang, Meng / Hoogendoorn, Serge P. / Daamen, Winnie et al. | Elsevier | 2015


    VEHICLE FOLLOWING TRAVEL SYSTEM AND INFORMATION PROCESSING METHOD

    KOIKE SATOSHI / HATA RYUICHI / KUBO NAOYUKI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Information Theoretic Deformable Registration Using Local Image Information

    Karaçali, B. | British Library Online Contents | 2007


    INFORMATION PROCESSING METHOD, AND VEHICLE FOLLOWING TRAVEL SYSTEM

    KOIKE SATOSHI / HATA RYUICHI / KUBO NAOYUKI et al. | Europäisches Patentamt | 2021

    Freier Zugriff