Autonomous Ground Vehicles

This book describes how vehicles will be designed with the ability of providing drivers with many advanced safety and performance assistance features in the near future. Autonomous technology applied to ground vehicles will provide capabilities such as intersection collision warning, safe lane changing and merge warning and assistance, lane departure warning and correction, parking assistance, and active advanced cruise control and forward collision avoidance. Fully autonomous vehicles are likely to follow with capabilities for route planning, self-driving, and safely interacting with other vehicles and complex traffic scenarios. The book focuses on providing professionals with a practical understanding of relevant technologies in this area, including presenting the basic autonomous control and feedback techniques for vehicle velocity control and car following, steering and lane following, obstacle avoidance, lane change, and parking operations. Covering the sensors, estimation, and sensor fusion technologies necessary to perceive vehicle motions and external objects, this book explains the aspects that make autonomous vehicle behavior possible. Practitioners will find detailed examples of data fusion and Kalman filtering. From maps, path planning, and obstacle avoidance sensors to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this book presents the most critical topics in the field today.