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Data and AI Driving Smart Cities [[electronic resource] /] / by Pedro Ponce, Therese Peffer, Juana Isabel Mendez Garduno, Ursula Eicker, Arturo Molina, Troy McDaniel, Edgard D. Musafiri Mimo, Ramanunni Parakkal Menon, Kathryn Kaspar, Sadam Hussain
| Data and AI Driving Smart Cities [[electronic resource] /] / by Pedro Ponce, Therese Peffer, Juana Isabel Mendez Garduno, Ursula Eicker, Arturo Molina, Troy McDaniel, Edgard D. Musafiri Mimo, Ramanunni Parakkal Menon, Kathryn Kaspar, Sadam Hussain |
| Autore | Ponce Pedro |
| Edizione | [1st ed. 2023.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2023 |
| Descrizione fisica | 1 online resource (253 pages) |
| Disciplina | 629.046 |
| Collana | Studies in Big Data |
| Soggetto topico |
Engineering—Data processing
Sociology, Urban Computational intelligence Data Engineering Urban Sociology Computational Intelligence |
| ISBN | 3-031-32828-0 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | The Smart C3 Model – Smart Citizens, Communities and Cities -- Connected Citizens are Smart Citizens -- Keystone for Smart Communities - Smart Households -- Smart communities -- Smart communities and cities as a unified concept. |
| Record Nr. | UNINA-9910768197403321 |
Ponce Pedro
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| Cham : , : Springer International Publishing : , : Imprint : Springer, , 2023 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey
| Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey |
| Pubbl/distr/stampa | London : , : Routledge, , 2016 |
| Descrizione fisica | 1 online resource (407 p.) |
| Disciplina | 629.046 |
| Altri autori (Persone) | ToveyMike |
| Collana | Design for Social Responsibility Series |
| Soggetto topico |
Motor vehicles - Design and construction - Design and construction
Transportation engineering - Design Urban transportation - Planning Human engineering Industrial design Automobiles - Design and construction - Design and construction |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-317-15232-8
1-315-57667-8 1-317-15231-X 1-283-70568-0 1-4094-3326-9 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover; Contents; List of Figures; List of Tables; About the Editor; About the Contributors; Introduction; Section One User Needs and Transport; 1 User-Centred Transport Design and User Needs; 2 User-centred Information Design for the Traveller; Section Two Design and the Transport System; 3 Transport Planning; 4 Transport Interchanges and the Integration Design Challenge; Section Three Transport Design Case Studies; 5 Design for Public Transport; 6 Bicycle Design: Creativity and Innovation; 7 Microcars; 8 The Design and Development of Microcab: A Case Study
Section Four Transport Design: The Case for the Automobile9 Designer's Role in the Automobile Industry; 10 Integrating Design and Engineering in Developing Vehicles; 11 Designing the Interface; 12 Passports to a Community of Practice; Conclusions: Transport Design in the Future; Index |
| Record Nr. | UNINA-9910461980503321 |
| London : , : Routledge, , 2016 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey
| Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey |
| Pubbl/distr/stampa | London : , : Routledge, , 2012 |
| Descrizione fisica | 1 online resource (407 p.) |
| Disciplina | 629.046 |
| Altri autori (Persone) | ToveyMike |
| Collana | Design for Social Responsibility Series |
| Soggetto topico |
Motor vehicles - Design and construction - Design and construction
Transportation engineering - Design Urban transportation - Planning Human engineering Industrial design Automobiles - Design and construction - Design and construction |
| ISBN |
1-4094-8460-2
1-317-15232-8 1-315-57667-8 1-317-15231-X 1-283-70568-0 1-4094-3326-9 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover; Contents; List of Figures; List of Tables; About the Editor; About the Contributors; Introduction; Section One User Needs and Transport; 1 User-Centred Transport Design and User Needs; 2 User-centred Information Design for the Traveller; Section Two Design and the Transport System; 3 Transport Planning; 4 Transport Interchanges and the Integration Design Challenge; Section Three Transport Design Case Studies; 5 Design for Public Transport; 6 Bicycle Design: Creativity and Innovation; 7 Microcars; 8 The Design and Development of Microcab: A Case Study
Section Four Transport Design: The Case for the Automobile9 Designer's Role in the Automobile Industry; 10 Integrating Design and Engineering in Developing Vehicles; 11 Designing the Interface; 12 Passports to a Community of Practice; Conclusions: Transport Design in the Future; Index |
| Record Nr. | UNINA-9910786333003321 |
| London : , : Routledge, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey
| Design for transport : a user-centred approach to vehicle design and travel / / edited by Mike Tovey |
| Pubbl/distr/stampa | London : , : Routledge, , 2012 |
| Descrizione fisica | 1 online resource (407 p.) |
| Disciplina | 629.046 |
| Altri autori (Persone) | ToveyMike |
| Collana | Design for Social Responsibility Series |
| Soggetto topico |
Motor vehicles - Design and construction - Design and construction
Transportation engineering - Design Urban transportation - Planning Human engineering Industrial design Automobiles - Design and construction - Design and construction |
| ISBN |
1-4094-8460-2
1-317-15232-8 1-315-57667-8 1-317-15231-X 1-283-70568-0 1-4094-3326-9 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover; Contents; List of Figures; List of Tables; About the Editor; About the Contributors; Introduction; Section One User Needs and Transport; 1 User-Centred Transport Design and User Needs; 2 User-centred Information Design for the Traveller; Section Two Design and the Transport System; 3 Transport Planning; 4 Transport Interchanges and the Integration Design Challenge; Section Three Transport Design Case Studies; 5 Design for Public Transport; 6 Bicycle Design: Creativity and Innovation; 7 Microcars; 8 The Design and Development of Microcab: A Case Study
Section Four Transport Design: The Case for the Automobile9 Designer's Role in the Automobile Industry; 10 Integrating Design and Engineering in Developing Vehicles; 11 Designing the Interface; 12 Passports to a Community of Practice; Conclusions: Transport Design in the Future; Index |
| Record Nr. | UNINA-9910824984203321 |
| London : , : Routledge, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Dinamica del veicolo / Massimo Guiggiani
| Dinamica del veicolo / Massimo Guiggiani |
| Autore | Guiggiani, Massimo |
| Pubbl/distr/stampa | Torino : CittàStudi, 1998 |
| Descrizione fisica | X, 284 p. : ill. ; 24 cm |
| Disciplina | 629.046 |
| Soggetto non controllato | Veicoli - Dinamica |
| ISBN | 88-251-7248-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | ita |
| Record Nr. | UNINA-990008409720403321 |
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Guiggiani, Massimo
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| Torino : CittàStudi, 1998 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Dinamica del veicolo / Massimo Guiggiani
| Dinamica del veicolo / Massimo Guiggiani |
| Autore | Guiggiani, Massimo |
| Pubbl/distr/stampa | Torino : CittàStudi, 1998 |
| Descrizione fisica | X, 284 p. ill. ; 24 cm. |
| Disciplina | 629.046 |
| Soggetto topico | Veicoli - Dinamica |
| ISBN | 88-251-7248-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | ita |
| Record Nr. | UNICAMPANIA-SUN0018905 |
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Guiggiani, Massimo
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| Torino : CittàStudi, 1998 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Vanvitelli | ||
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Dinamica del veicolo / Massimo Guiggiani
| Dinamica del veicolo / Massimo Guiggiani |
| Autore | Guiggiani, Massimo |
| Pubbl/distr/stampa | Torino, : CittàStudi, 1998 |
| Descrizione fisica | X, 284 p. ill. ; 24 cm |
| Disciplina | 629.046 |
| Soggetto topico | Veicoli - Dinamica |
| ISBN | 88-251-7248-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | ita |
| Titolo uniforme | |
| Record Nr. | UNICAMPANIA-VAN0018905 |
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Guiggiani, Massimo
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| Torino, : CittàStudi, 1998 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Vanvitelli | ||
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Efficiency Enhanced DC-DC Converter Using Dynamic Inductor Control / / by Omar Abu Mohareb
| Efficiency Enhanced DC-DC Converter Using Dynamic Inductor Control / / by Omar Abu Mohareb |
| Autore | Abu Mohareb Omar |
| Edizione | [1st ed. 2019.] |
| Pubbl/distr/stampa | Wiesbaden : , : Springer Fachmedien Wiesbaden : , : Imprint : Springer Vieweg, , 2019 |
| Descrizione fisica | 1 online resource (152 pages) |
| Disciplina | 629.046 |
| Collana | Wissenschaftliche Reihe Fahrzeugtechnik Universität Stuttgart |
| Soggetto topico |
Automotive engineering
Power electronics Mechatronics Automotive Engineering Power Electronics, Electrical Machines and Networks |
| ISBN | 3-658-25147-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Effects of Varying Inductance Value on Converter Efficiency and Performance -- Boost Battery Charger Modeling -- Development of Dynamic Inductor Control (DIC) and Maximum Energy Transfer (MET) Concepts -- Dynamic Inductor Control Concept Simulation and Implementation. |
| Record Nr. | UNINA-9910337643403321 |
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Abu Mohareb Omar
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| Wiesbaden : , : Springer Fachmedien Wiesbaden : , : Imprint : Springer Vieweg, , 2019 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Engineering autonomous vehicles and robots : the DragonFly modular-based approach / / Shaoshan Liu
| Engineering autonomous vehicles and robots : the DragonFly modular-based approach / / Shaoshan Liu |
| Autore | Liu Shaoshan |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Hoboken : , : Wiley-IEEE Press, , 2020 |
| Descrizione fisica | 1 online resource (216 pages) |
| Disciplina | 629.046 |
| Soggetto topico |
Automated vehicles
Mobile robots |
| ISBN |
1-119-57054-9
1-119-57051-4 1-119-57055-7 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
1 Affordable and Reliable Autonomous Driving Through Modular Design 1 -- 1.1 Introduction 1 -- 1.2 High Cost of Autonomous Driving Technologies 2 -- 1.2.1 Sensing 2 -- 1.2.2 HD Map Creation and Maintenance 3 -- 1.2.3 Computing Systems 3 -- 1.3 Achieving Affordability and Reliability 4 -- 1.3.1 Sensor Fusion 4 -- 1.3.2 Modular Design 5 -- 1.3.3 Extending Existing Digital Maps 5 -- 1.4 Modular Design 6 -- 1.4.1 Communication System 7 -- 1.4.2 Chassis 7 -- 1.4.3 mmWave Radar and Sonar for Passive Perception 8 -- 1.4.4 GNSS for Localization 8 -- 1.4.5 Computer Vision for Active Perception and Localization 8 -- 1.4.6 Planning and Control 8 -- 1.4.7 Mapping 9 -- 1.5 The Rest of the Book 9 -- 1.6 Open Source Projects Used in this Book 10 -- References 11 -- 2 In-Vehicle Communication Systems 13 -- 2.1 Introduction 13 -- 2.2 CAN 13 -- 2.3 FlexRay 16 -- 2.3.1 FlexRay Topology 16 -- 2.3.2 The FlexRay Communication Protocol 17 -- 2.4 CANopen 18 -- 2.4.1 Object Dictionary 19 -- 2.4.2 Profile Family 19 -- 2.4.3 Data Transmission and Network Management 20 -- 2.4.4 Communication Models 21 -- 2.4.5 CANopenNode 21 -- References 22 -- 3 Chassis Technologies for Autonomous Robots and Vehicles 23 -- 3.1 Introduction 23 -- 3.2 Throttle-by-Wire 23 -- 3.3 Brake-by-Wire 25 -- 3.4 Steer-by-Wire 25 -- 3.5 Open Source Car Control 26 -- 3.5.1 OSCC APIs 26 -- 3.5.2 Hardware 27 -- 3.5.3 Firmware 28 -- 3.6 OpenCaret 29 -- 3.6.1 OSCC Throttle 29 -- 3.6.2 OSCC Brake 29 -- 3.6.3 OSCC Steering 29 -- 3.7 PerceptIn Chassis Software Adaptation Layer 30 -- References 34 -- 4 Passive Perception with Sonar and Millimeter Wave Radar 35 -- 4.1 Introduction 35 -- 4.2 The Fundamentals of mmWave Radar 35 -- 4.2.1 Range Measurement 36 -- 4.2.2 Velocity Measurement 37 -- 4.2.3 Angle Detection 38 -- 4.3 mmWave Radar Deployment 38 -- 4.4 Sonar Deployment 41 -- References 45 -- 5 Localization with Real-Time Kinematic Global Navigation Satellite System 47 -- 5.1 Introduction 47 -- 5.2 GNSS Technology Overview 47 -- 5.3 RTK GNSS 49.
5.4 RTK-GNSS NtripCaster Setup Steps 52 -- 5.4.1 Set up NtripCaster 52 -- 5.4.2 Start NtripCaster 54 -- 5.5 Setting Up NtripServer and NtripClient on Raspberry Pi 55 -- 5.5.1 Install the Raspberry Pi System 55 -- 5.5.2 Run RTKLIB-str2str on the Raspberry Pi 57 -- 5.5.2.1 Running NtripServer on the Base Station Side 57 -- 5.5.2.2 Running NtripClient on the GNSS Rover 58 -- 5.6 Setting Up a Base Station and a GNSS Rover 59 -- 5.6.1 Base Station Hardware Setup 59 -- 5.6.2 Base Station Software Setup 60 -- 5.6.3 GNSS Rover Setup 67 -- 5.6.3.1 Rover Hardware Setup 67 -- 5.6.3.2 Rover Software Setup 68 -- 5.7 FreeWave Radio Basic Configuration 71 -- References 75 -- 6 Computer Vision for Perception and Localization 77 -- 6.1 Introduction 77 -- 6.2 Building Computer Vision Hardware 77 -- 6.2.1 Seven Layers of Technologies 78 -- 6.2.2 Hardware Synchronization 80 -- 6.2.3 Computing 80 -- 6.3 Calibration 81 -- 6.3.1 Intrinsic Parameters 81 -- 6.3.2 Extrinsic Parameters 82 -- 6.3.3 Kalibr 82 -- 6.3.3.1 Calibration Target 83 -- 6.3.3.2 Multiple Camera Calibration 83 -- 6.3.3.3 Camera IMU Calibration 84 -- 6.3.3.4 Multi-IMU and IMU Intrinsic Calibration 84 -- 6.4 Localization with Computer Vision 85 -- 6.4.1 VSLAM Overview 85 -- 6.4.2 ORB-SLAM2 86 -- 6.4.2.1 Prerequisites 86 -- 6.4.2.2 Building the ORB-SLAM2 Library 87 -- 6.4.2.3 Running Stereo Datasets 87 -- 6.5 Perception with Computer Vision 87 -- 6.5.1 ELAS for Stereo Depth Perception 88 -- 6.5.2 Mask R-CNN for Object Instance Segmentation 89 -- 6.6 The DragonFly Computer Vision Module 90 -- 6.6.1 DragonFly Localization Interface 90 -- 6.6.2 DragonFly Perception Interface 92 -- 6.6.3 DragonFly+ 93 -- References 94 -- 7 Planning and Control 97 -- 7.1 Introduction 97 -- 7.2 Route Planning 97 -- 7.2.1 Weighted Directed Graph 98 -- 7.2.2 DijkstráÖs Algorithm 99 -- 7.2.3 A* Algorithm 100 -- 7.3 Behavioral Planning 100 -- 7.3.1 Markov Decision Process 101 -- 7.3.2 Value Iteration Algorithm 102 -- 7.3.3 Partially Observable Markov Decision Process (POMDP) 103. 7.3.4 Solving POMDP 104 -- 7.4 Motion Planning 105 -- 7.4.1 Rapidly Exploring Random Tree 105 -- 7.4.2 RRT* 106 -- 7.5 Feedback Control 107 -- 7.5.1 ProportionaĺôIntegraĺôDerivative Controller 108 -- 7.5.2 Model Predictive Control 108 -- 7.6 Iterative EM Plannning System in Apollo 110 -- 7.6.1 Terminologies 110 -- 7.6.1.1 Path and Trajectory 110 -- 7.6.1.2 SL Coordinate System and Reference Line 110 -- 7.6.1.3 ST Graph 111 -- 7.6.2 Iterative EM Planning Algorithm 112 -- 7.6.2.1 Traffic Decider 113 -- 7.6.2.2 QP Path and QP Speed 114 -- 7.7 PerceptIńÖs Planning and Control Framework 116 -- References 118 -- 8 Mapping 119 -- 8.1 Introduction 119 -- 8.2 Digital Maps 119 -- 8.2.1 Open Street Map 120 -- 8.2.1.1 OSM Data Structures 120 -- 8.2.1.2 OSM Software Stack 121 -- 8.2.2 Java OpenStreetMap Editor 121 -- 8.2.2.1 Adding a Node or a Way 123 -- 8.2.2.2 Adding Tags 123 -- 8.2.2.3 Uploading to OSM 124 -- 8.2.3 Nominatim 124 -- 8.2.3.1 Nominatim Architecture 124 -- 8.2.3.2 Place Ranking in Nominatim 125 -- 8.3 High-Definition Maps 125 -- 8.3.1 Characteristics of HD Maps 126 -- 8.3.1.1 High Precision 126 -- 8.3.1.2 Rich Geometric Information and Semantics 126 -- 8.3.1.3 Fresh Data 126 -- 8.3.2 Layers of HD Maps 126 -- 8.3.2.1 2D Orthographic Reflectivity Map 127 -- 8.3.2.2 Digital Elevation Model 127 -- 8.3.2.3 Lane/Road Model 127 -- 8.3.2.4 Stationary Map 127 -- 8.3.3 HD Map Creation 127 -- 8.3.3.1 Data Collection 127 -- 8.3.3.2 Offline Generation of HD Maps 128 -- 8.3.3.2.1 Sensor Fusion and Pose Estimation 128 -- 8.3.3.2.2 Map Data Fusion and Data Processing 129 -- 8.3.3.2.3 3D Object Location Detection 129 -- 8.3.3.2.4 Semantics/Attributes Extraction 129 -- 8.3.3.3 Quality Control and Validation 129 -- 8.3.3.4 Update and Maintenance 129 -- 8.3.3.5 Problems of HD Maps 130 -- 8.4 PerceptIńÖs Ï 9.3 Sensor Configurations 136 -- 9.4 Software Architecture 138 -- 9.5 Mechanism 142 -- 9.6 Data Structures 144 -- 9.6.1 Common Data Structures 144 -- 9.6.2 Chassis Data 146 -- 9.6.3 Localization Data 149 -- 9.6.4 Perception Data 150 -- 9.6.5 Planning Data 153 -- 9.7 User Interface 158 -- References 160 -- 10 Enabling Commercial Autonomous Space Robotic Explorers 161 -- 10.1 Introduction 161 -- 10.2 Destination Mars 162 -- 10.3 Mars Explorer Autonomy 163 -- 10.3.1 Localization 163 -- 10.3.2 Perception 164 -- 10.3.3 Path Planning 165 -- 10.3.4 The Curiosity Rover and Mars 2020 Explorer 165 -- 10.4 Challenge: Onboard Computing Capability 168 -- 10.5 Conclusion 169 -- References 170 -- 11 Edge Computing for Autonomous Vehicles 171 -- 11.1 Introduction 171 -- 11.2 Benchmarks 172 -- 11.3 Computing System Architectures 173 -- 11.4 Runtime 175 -- 11.5 Middleware 177 -- 11.6 Case Studies 178 -- References 179 -- 12 Innovations on the Vehicle-to-Everything Infrastructure 183 -- 12.1 Introduction 183 -- 12.2 Evolution of V2X Technology 183 -- 12.3 Cooperative Autonomous Driving 186 -- 12.4 Challenges 188 -- References 189 -- 13 Vehicular Edge Security 191 -- 13.1 Introduction 191 -- 13.2 Sensor Security 191 -- 13.3 Operating System Security 192 -- 13.4 Control System Security 193 -- 13.5 V2X Security 193 -- 13.6 Security for Edge Computing 194 -- References 196 -- Index 199. |
| Record Nr. | UNINA-9910555268003321 |
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Liu Shaoshan
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| Hoboken : , : Wiley-IEEE Press, , 2020 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Engineering autonomous vehicles and robots : the DragonFly modular-based approach / / Shaoshan Liu
| Engineering autonomous vehicles and robots : the DragonFly modular-based approach / / Shaoshan Liu |
| Autore | Liu Shaoshan |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Hoboken : , : Wiley-IEEE Press, , 2020 |
| Descrizione fisica | 1 online resource (216 pages) |
| Disciplina | 629.046 |
| Soggetto topico |
Automated vehicles
Mobile robots |
| ISBN |
1-119-57054-9
1-119-57051-4 1-119-57055-7 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
1 Affordable and Reliable Autonomous Driving Through Modular Design 1 -- 1.1 Introduction 1 -- 1.2 High Cost of Autonomous Driving Technologies 2 -- 1.2.1 Sensing 2 -- 1.2.2 HD Map Creation and Maintenance 3 -- 1.2.3 Computing Systems 3 -- 1.3 Achieving Affordability and Reliability 4 -- 1.3.1 Sensor Fusion 4 -- 1.3.2 Modular Design 5 -- 1.3.3 Extending Existing Digital Maps 5 -- 1.4 Modular Design 6 -- 1.4.1 Communication System 7 -- 1.4.2 Chassis 7 -- 1.4.3 mmWave Radar and Sonar for Passive Perception 8 -- 1.4.4 GNSS for Localization 8 -- 1.4.5 Computer Vision for Active Perception and Localization 8 -- 1.4.6 Planning and Control 8 -- 1.4.7 Mapping 9 -- 1.5 The Rest of the Book 9 -- 1.6 Open Source Projects Used in this Book 10 -- References 11 -- 2 In-Vehicle Communication Systems 13 -- 2.1 Introduction 13 -- 2.2 CAN 13 -- 2.3 FlexRay 16 -- 2.3.1 FlexRay Topology 16 -- 2.3.2 The FlexRay Communication Protocol 17 -- 2.4 CANopen 18 -- 2.4.1 Object Dictionary 19 -- 2.4.2 Profile Family 19 -- 2.4.3 Data Transmission and Network Management 20 -- 2.4.4 Communication Models 21 -- 2.4.5 CANopenNode 21 -- References 22 -- 3 Chassis Technologies for Autonomous Robots and Vehicles 23 -- 3.1 Introduction 23 -- 3.2 Throttle-by-Wire 23 -- 3.3 Brake-by-Wire 25 -- 3.4 Steer-by-Wire 25 -- 3.5 Open Source Car Control 26 -- 3.5.1 OSCC APIs 26 -- 3.5.2 Hardware 27 -- 3.5.3 Firmware 28 -- 3.6 OpenCaret 29 -- 3.6.1 OSCC Throttle 29 -- 3.6.2 OSCC Brake 29 -- 3.6.3 OSCC Steering 29 -- 3.7 PerceptIn Chassis Software Adaptation Layer 30 -- References 34 -- 4 Passive Perception with Sonar and Millimeter Wave Radar 35 -- 4.1 Introduction 35 -- 4.2 The Fundamentals of mmWave Radar 35 -- 4.2.1 Range Measurement 36 -- 4.2.2 Velocity Measurement 37 -- 4.2.3 Angle Detection 38 -- 4.3 mmWave Radar Deployment 38 -- 4.4 Sonar Deployment 41 -- References 45 -- 5 Localization with Real-Time Kinematic Global Navigation Satellite System 47 -- 5.1 Introduction 47 -- 5.2 GNSS Technology Overview 47 -- 5.3 RTK GNSS 49.
5.4 RTK-GNSS NtripCaster Setup Steps 52 -- 5.4.1 Set up NtripCaster 52 -- 5.4.2 Start NtripCaster 54 -- 5.5 Setting Up NtripServer and NtripClient on Raspberry Pi 55 -- 5.5.1 Install the Raspberry Pi System 55 -- 5.5.2 Run RTKLIB-str2str on the Raspberry Pi 57 -- 5.5.2.1 Running NtripServer on the Base Station Side 57 -- 5.5.2.2 Running NtripClient on the GNSS Rover 58 -- 5.6 Setting Up a Base Station and a GNSS Rover 59 -- 5.6.1 Base Station Hardware Setup 59 -- 5.6.2 Base Station Software Setup 60 -- 5.6.3 GNSS Rover Setup 67 -- 5.6.3.1 Rover Hardware Setup 67 -- 5.6.3.2 Rover Software Setup 68 -- 5.7 FreeWave Radio Basic Configuration 71 -- References 75 -- 6 Computer Vision for Perception and Localization 77 -- 6.1 Introduction 77 -- 6.2 Building Computer Vision Hardware 77 -- 6.2.1 Seven Layers of Technologies 78 -- 6.2.2 Hardware Synchronization 80 -- 6.2.3 Computing 80 -- 6.3 Calibration 81 -- 6.3.1 Intrinsic Parameters 81 -- 6.3.2 Extrinsic Parameters 82 -- 6.3.3 Kalibr 82 -- 6.3.3.1 Calibration Target 83 -- 6.3.3.2 Multiple Camera Calibration 83 -- 6.3.3.3 Camera IMU Calibration 84 -- 6.3.3.4 Multi-IMU and IMU Intrinsic Calibration 84 -- 6.4 Localization with Computer Vision 85 -- 6.4.1 VSLAM Overview 85 -- 6.4.2 ORB-SLAM2 86 -- 6.4.2.1 Prerequisites 86 -- 6.4.2.2 Building the ORB-SLAM2 Library 87 -- 6.4.2.3 Running Stereo Datasets 87 -- 6.5 Perception with Computer Vision 87 -- 6.5.1 ELAS for Stereo Depth Perception 88 -- 6.5.2 Mask R-CNN for Object Instance Segmentation 89 -- 6.6 The DragonFly Computer Vision Module 90 -- 6.6.1 DragonFly Localization Interface 90 -- 6.6.2 DragonFly Perception Interface 92 -- 6.6.3 DragonFly+ 93 -- References 94 -- 7 Planning and Control 97 -- 7.1 Introduction 97 -- 7.2 Route Planning 97 -- 7.2.1 Weighted Directed Graph 98 -- 7.2.2 DijkstráÖs Algorithm 99 -- 7.2.3 A* Algorithm 100 -- 7.3 Behavioral Planning 100 -- 7.3.1 Markov Decision Process 101 -- 7.3.2 Value Iteration Algorithm 102 -- 7.3.3 Partially Observable Markov Decision Process (POMDP) 103. 7.3.4 Solving POMDP 104 -- 7.4 Motion Planning 105 -- 7.4.1 Rapidly Exploring Random Tree 105 -- 7.4.2 RRT* 106 -- 7.5 Feedback Control 107 -- 7.5.1 ProportionaĺôIntegraĺôDerivative Controller 108 -- 7.5.2 Model Predictive Control 108 -- 7.6 Iterative EM Plannning System in Apollo 110 -- 7.6.1 Terminologies 110 -- 7.6.1.1 Path and Trajectory 110 -- 7.6.1.2 SL Coordinate System and Reference Line 110 -- 7.6.1.3 ST Graph 111 -- 7.6.2 Iterative EM Planning Algorithm 112 -- 7.6.2.1 Traffic Decider 113 -- 7.6.2.2 QP Path and QP Speed 114 -- 7.7 PerceptIńÖs Planning and Control Framework 116 -- References 118 -- 8 Mapping 119 -- 8.1 Introduction 119 -- 8.2 Digital Maps 119 -- 8.2.1 Open Street Map 120 -- 8.2.1.1 OSM Data Structures 120 -- 8.2.1.2 OSM Software Stack 121 -- 8.2.2 Java OpenStreetMap Editor 121 -- 8.2.2.1 Adding a Node or a Way 123 -- 8.2.2.2 Adding Tags 123 -- 8.2.2.3 Uploading to OSM 124 -- 8.2.3 Nominatim 124 -- 8.2.3.1 Nominatim Architecture 124 -- 8.2.3.2 Place Ranking in Nominatim 125 -- 8.3 High-Definition Maps 125 -- 8.3.1 Characteristics of HD Maps 126 -- 8.3.1.1 High Precision 126 -- 8.3.1.2 Rich Geometric Information and Semantics 126 -- 8.3.1.3 Fresh Data 126 -- 8.3.2 Layers of HD Maps 126 -- 8.3.2.1 2D Orthographic Reflectivity Map 127 -- 8.3.2.2 Digital Elevation Model 127 -- 8.3.2.3 Lane/Road Model 127 -- 8.3.2.4 Stationary Map 127 -- 8.3.3 HD Map Creation 127 -- 8.3.3.1 Data Collection 127 -- 8.3.3.2 Offline Generation of HD Maps 128 -- 8.3.3.2.1 Sensor Fusion and Pose Estimation 128 -- 8.3.3.2.2 Map Data Fusion and Data Processing 129 -- 8.3.3.2.3 3D Object Location Detection 129 -- 8.3.3.2.4 Semantics/Attributes Extraction 129 -- 8.3.3.3 Quality Control and Validation 129 -- 8.3.3.4 Update and Maintenance 129 -- 8.3.3.5 Problems of HD Maps 130 -- 8.4 PerceptIńÖs Ï 9.3 Sensor Configurations 136 -- 9.4 Software Architecture 138 -- 9.5 Mechanism 142 -- 9.6 Data Structures 144 -- 9.6.1 Common Data Structures 144 -- 9.6.2 Chassis Data 146 -- 9.6.3 Localization Data 149 -- 9.6.4 Perception Data 150 -- 9.6.5 Planning Data 153 -- 9.7 User Interface 158 -- References 160 -- 10 Enabling Commercial Autonomous Space Robotic Explorers 161 -- 10.1 Introduction 161 -- 10.2 Destination Mars 162 -- 10.3 Mars Explorer Autonomy 163 -- 10.3.1 Localization 163 -- 10.3.2 Perception 164 -- 10.3.3 Path Planning 165 -- 10.3.4 The Curiosity Rover and Mars 2020 Explorer 165 -- 10.4 Challenge: Onboard Computing Capability 168 -- 10.5 Conclusion 169 -- References 170 -- 11 Edge Computing for Autonomous Vehicles 171 -- 11.1 Introduction 171 -- 11.2 Benchmarks 172 -- 11.3 Computing System Architectures 173 -- 11.4 Runtime 175 -- 11.5 Middleware 177 -- 11.6 Case Studies 178 -- References 179 -- 12 Innovations on the Vehicle-to-Everything Infrastructure 183 -- 12.1 Introduction 183 -- 12.2 Evolution of V2X Technology 183 -- 12.3 Cooperative Autonomous Driving 186 -- 12.4 Challenges 188 -- References 189 -- 13 Vehicular Edge Security 191 -- 13.1 Introduction 191 -- 13.2 Sensor Security 191 -- 13.3 Operating System Security 192 -- 13.4 Control System Security 193 -- 13.5 V2X Security 193 -- 13.6 Security for Edge Computing 194 -- References 196 -- Index 199. |
| Record Nr. | UNINA-9910821543603321 |
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Liu Shaoshan
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| Hoboken : , : Wiley-IEEE Press, , 2020 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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