Rear Vehicle Tracking on a Smart E-Scooter
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Alai, Hamidreza | - |
dc.contributor.author | Jeon, Woongsun | - |
dc.contributor.author | Alexander, Lee | - |
dc.contributor.author | Rajamani, Rajesh | - |
dc.date.accessioned | 2024-01-09T08:32:23Z | - |
dc.date.available | 2024-01-09T08:32:23Z | - |
dc.date.issued | 2023-05 | - |
dc.identifier.issn | 0743-1619 | - |
dc.identifier.issn | 2378-5861 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/70152 | - |
dc.description.abstract | This paper develops an active sensing system for protection of an e-scooter from car-scooter collisions. The objective is to track the trajectories of cars behind the e-scooter and predict any real-time danger to the e-scooter. If the danger of being hit by a car is predicted, then a loud horn-like audio warning is sounded to alert the car driver to the presence of the scooter. A low-cost single-beam laser sensor is chosen for measuring the positions of cars behind the scooter. The sensor is mounted on a stepper motor and the region behind the scooter is scanned to detect vehicles. Once a vehicle is detected, its trajectory is tracked in real-time by using feedback control to focus the orientation of the laser sensor in real-time so as to make measurements of the right front corner of the vehicle. A nonlinear vehicle model and a nonlinear observer are used to estimate the trajectory variables of the tracked car. The estimated states are used in a receding horizon controller that controls the real-time position of the laser sensor to focus on the vehicle. The developed system is implemented on a Ninebot e-scooter platform. Simulation results with multiple vehicle maneuvers show that the closed-loop system is able to accurately track trajectories of rear vehicles that can pose a danger to the e-scooter. | - |
dc.format.extent | 6 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | IEEE | - |
dc.title | Rear Vehicle Tracking on a Smart E-Scooter | - |
dc.type | Article | - |
dc.identifier.doi | 10.23919/ACC55779.2023.10156621 | - |
dc.identifier.bibliographicCitation | 2023 AMERICAN CONTROL CONFERENCE, ACC, v.2023-May, pp 1735 - 1740 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.wosid | 001027160301091 | - |
dc.identifier.scopusid | 2-s2.0-85165160078 | - |
dc.citation.endPage | 1740 | - |
dc.citation.startPage | 1735 | - |
dc.citation.title | 2023 AMERICAN CONTROL CONFERENCE, ACC | - |
dc.citation.volume | 2023-May | - |
dc.type.docType | Proceedings Paper | - |
dc.publisher.location | 미국 | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Interdisciplinary Applications | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.description.journalRegisteredClass | foreign | - |
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