This is a pilot study that investigates different systems to drive autonomous and non-autonomous vehicles simultaneously on test tracks. The thesis includes studies of communication, positioning, collision avoidance, and techniques for surveillance of vehicles which are suitable for implementation. The investigation results in a suggested system outline.
Differential GPS combined with laser scanner vision is used for vehicle state estimation (position, heading, velocity, etc.). The state information is transmitted with IEEE 802.11 to all surrounding vehicles and surveillance center. With this information a Kalman prediction of the future position for all vehicles can be estimated and used for collision avoidance.
Source: Linköping University
Author: Agardt, Erik | Löfgren, Markus
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