Felipe Jiménez Alonso

NUEVOS REQUERIMIENTOS DE PRECISIÓN EN EL POSICIONAMIENTO DE VEHÍULOS PARA APLICACIONES ADAS

Operation of new driving assistance systems that are being introduced in road vehicles is based on processing information of the vehicle, driver, road and environment. In most of them, digital maps represent an extension of the visual horizon that the driver and onboard sensors perceive. However, in order to make the most of their potential, accurate digital maps and vehicle positioning systems are required, improving present specifications for navigation applications.

OPTIMIZACION DE CONSUMO DE COMBUSTIBLE DE VEHICULOS BASADA EN PROGRAMACION DINAMICA

In this paper, an optimization algorithm is proposed to calculate the optimal speed of a conventional vehicle taking into account fuel consumption, travel time and the vertical profile of the road. The optimization algorithm is based on the Dynamic Programming technique and obtains the global minimum of an objective function that involves fuel and time. By setting as target a predefined travel time, the algorithm calculates the optimal profiles for speeds and engaged gears for drive across a known highway. This travel is completed according to the established time and using the minimum possible fuel amount. The optimal speed profile is obtained by concatenating different vehicle speed transitions across the route. The fuel consumption is calculated using a quasi-static model for simulate the speed transitions of the vehicle. Using data of a real road, fuel savings of up to 5.2 % are obtained without modifying travel time. The algorithm can be implemented on a vehicle improving its efficiency.

EVALUACIÓN A PRIORI DE LA PRECISIÓN DE MAPAS ELECTRÓNICOS.

• The use of data log vehicles is one of the more widespread methods to obtain road digital maps that provide support to new driver assistance systems. These vehicles are mainly equipped with inertial measurement systems and GPS receivers. The accuracy level of the map determines the applications for which it could be used. Although talking about GPS positioning, this quantification of the uncertainty has already been studied, the same does not happen when dealing with inertial systems. Furthermore, a method to obtain an upper bound of the error prior to the measurement has not been applied in the past. This paper shows a method based on the application of the EA-4/02 guide to the Expression of Uncertainty in Measurement. It also raises the application to the case study of establishing the maximum allowable distance covered using an inertial measurement system alone, guaranteeing that in-vehicle assistance systems specifications are fullfilled.

FPGA real time lane departure warning hardware system

This paper presents a design adapting the Kalman Filter to the vehicle system domain and Field Programmable Logic technology. The objective to which the system will be applied is detection of road lines from visual information, derived from a low cost monochrome camera with real time response requirements and good results for real scenarios (secondary roads, rain, damaged or occluded road lines..). The sections will describe how the original algorithm is mapped to a real time hardware vision system, which includes a low-cost FPGA processing system and a camera, for vehicle applications. The paper will also illustrate how the needed tasks have been implemented on the FPGA, with the logical architectural restrictions. It mentions also the ways in which overall performance will be increased.

ESTIMACIÓN DE LA AUTONOMÍA DE UN VEHÍCULO ELÉCTRICO SEGÚN EL ESTILO DE CONDUCCIÓN

En este trabajo se presenta un proceso para la estimacion de la autonomia de vehiculos electricos en funcion del comportamiento de los conductores al volante. Para ello, se extraera una serie de parametros directamente del GPS y de los acelerometros de smartphones en una ruta urbana realizada por 11 conductores. De ellos se elaboraran unos indicadores (perfil de conduccion) que, junto con el consumo real del vehiculo en las rutas, seran empleados para el entrenamiento de una red neuronal cuyo objetivo sera la prediccion de variables como el confort de los pasajeros y el consumo esperado en condiciones de trafico reales. Este modelo ademas es extrapolable al ambito de la seguridad, ya que existe una relacion directa entre eficiencia energetica y agresividad en la conduccion.

REQUERIMIENTOS ENERGÉTICOS DE LOS VEHÍCULOS HÍBRIDOS DE TRANSPORTE URBANO DE ALTO TONELAJE

The decomposition of the methane by means of a thermal and catalytic process (DTC) has been widely studied previously. The process to laboratory level, either in moving bed or fluidized bed, has been optimized, mainly with metallic catalysts, obtaining an efficiency of hydrogen production nearby to the maximum theoretically fixed by the thermodynamic, depending on the temperature of reaction. A rotary reactor designed by Inasmet-Tecnalia to carry out the process of Catalytic Thermal Decomposition (DTC) of methane has been investigated in order to achieve the COx-free production of hydrogen. The aim of the present work is to study the efficiency of this type of reactor, in a pilot scale, for a continuous production of hydrogen. A reactor such as, speci? cally designed, offers excellent fluidodynamic properties for the route DTC, though the optimization of the design in the scale that one has worked was not an object of the study. The trials, carried out in this reactor, allow the study of the influence of operating conditions such as the temperature reaction, the action of the different types of catalyst in the bed, the flow of methane, and the residence times, with a view to optimizing the parameters adjusted for the specific technology used. Likewise, there has been studied the nature of the carbon obtained as by-product with a view to his economic valorisation.The results have been compared with the best published information referred to the same process using traditional processes (fixed bed and fluidized bed). The result demonstrates that the process is highly competitive taking into account the methane conversion, turning out to be the most favorable for the economic reasons, the simplification of the process, and the facility of scale-up. Equally, the system permits continuous operation which is of special interest facing his transfer to the industrial tissue.

GUIADO DE VEHÍCULOS AUTÓNOMOS MEDIANTE LIDAR 3D SIGUIENDO UN ELEMENTO DE REFERENCIA

Every transportation plan in the medium and long term consider autonomous vehicles as a key solution for transport, which will reduce to a minimum traffic accidents and congestion, maximizing the use of the road. However, at present, these vehicles are still under development and they are not with acceptable figures for the placing on the market. A fundamental element on today obstacle detection is the laser scanner, which provides a three dimensional mesh that can represent all objects that are at a distance of 200 meters from the vehicle. Furthermore, the combination of GPS with inertial systems allows precise positioning on the road, if necessary reinforced with computer vision to achieve lane level positioning. However, there are situations, such as tunnels or urban roads with poor reception of GPS signals that make this positioning can be complicated, so much so that the autonomous vehicle requires human intervention to maintain the trajectory. This article describes a use of laser scanner technology to support positioning and maintaining the position even when the GPS and inertial systems are not sufficient to maintain the route. This system will be complementary to conventional guidance systems and works in parallel without interference obstacle detection system for autonomous vehicles. It has also been tested and validated in real situations autonomous vehicles driving at high speeds on real roads.

Simulación de tráfico en circuitos urbanos para analizar el efecto de diferentes estilos de conducción

El articulo presenta un simulador de flujo de trafico en entornos urbanos orientado a analizar el efecto sobre cada vehiculo y sobre el conjunto del trafico de diferentes estilos de conduccion. El simulador permite la configuracion de los parametros de circulacion de vehiculos “controlados”, asi como del resto de vehiculos con los que pueden tener interrelacion. La configuracion abierta del entorno de simulacion permite la carga sencilla de cualquier circuito que vaya a realizar el vehiculo “controlado”, incluyendo los elementos de la infraestructura mas influyentes, asi como el patron objetivo de circulacion de dicho vehiculo que caracteriza el estilo de conduccion a estudiar, y se configura el resto del trafico a partir de parametros que pueden ser facilmente medidos o estimados.Esta aplicacion permite estimar, entre otras variables, consumos o tiempos de viaje en diferentes escenarios de intensidad de trafico, asi como ante diferentes patrones de conduccion. Tambien se permite la introduccion de variables del vehiculo. Por otra parte, es posible analizar la interrelacion entre el vehiculo “controlado” y el trafico, estudiando como influye cada uno en la evolucion del otro.Frente a modelos mas complejos de simulacion, tiene la ventaja de que resulta muy intuitivo, los parametros de trafico necesarios son simples de medir y los resultados obtenidos son facilmente interpretables, integrandose tanto variables macroscopicas de trafico como microscopicas a nivel de cada vehiculo, pudiendo modelizar con detalle cada tipologia de conductor, pudiendo seguir la evolucion de cualquiera de ellos. DOI: http://dx.doi.org/10.4995/CIT2016.2016.3482

DISPOSITIVO UNIVERSAL PARA EL CONTROL AUTOMÁTICO DE LA DIRECCIÓN DE UN VEHÍCULO

ABSTRACT: Road vehicle steering automation is an essential part of any kind of application that involves autonomous driving or navigation. Vehicle manufacturers can perform this automatic control because they have access to the vehicle control unit and the internal communication bus. However, this solution involves knowledge of communication protocols and a certain electronic architecture. This paper presents a device able to control the steering of a road vehicle without necessity of the intervention of human drivers. This device can be installed in any kind of vehicle independently of the kind of assistance of the steering only by attaching a single mechanical coupling element between the device and the steering column. The architecture of the device also allows switching between manual and automatic control electronically at any moment. The developed device can be used to support any kind of Advanced Driver Assistance System that requires automatic steering control up to autonomous driving.

Van Traffic Accident Analysis. A Holistic Approach

From 2003 on, the numbers of accidents and victims have decreased significantly in Spain: the number of deaths was in 2010 54 % below that of 2003. This has been to a great extent the results of several safety policy measures such as the penalty point system, surveillance and control campaigns and a considerable increase in the media of road safety-related issues. However, accidents with involvement of vans (LGV’s less than 3500 kg) have not followed this trend, and thus the contribution of this kind of vehicles to the global figures has risen. Within this context, INSIA has conducted an ambitious research project, developed with the purpose of an integrated analysis of the different factors which can explain the accidental behavior of this kind of vehicles. In this paper analyze in greater depth the validity of one of the initial hypothesis: “vans may have a different dynamic behavior from passenger cars, and thus accident rates may be higher if they are driven like a passenger car”. The basis of the working hypotheses are essentially related to the behavior of the vehicle with respect to safety distances, reaction times and braking capacities of the vehicle behind, and on the influence of loads.