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On Road Coordinates for Autonomous Vehicle Guidance
A new roadmap framework is proposed to improve the guidance and trajectory prediction capabilities of connected and automated vehicles (CAVs). Independent of road shape determination through external sensors, the system serves as a backup for challenging conditions, such as low sensor visibility and adverse environmental effects (e.g., rain, fog, snow). Based on the fusion of vehicle dynamics principles, differential geometry, and road design standards, the roadmap framework provides a consolidated collection of critical reference points of roadway centerlines and information about the shape of the roadway in the vicinity of a vehicle, including curvature, optimal travel velocity, and road alignment angle. Finally, the proposed roadmap for CAV reference offers versatility as additional data can be appended to the map, including elevation and roadside slope data, variable speed limits, and lane controls.
Jacome, Ricardo Osmar, "On Road Coordinates for Autonomous Vehicle Guidance" (2021). ETD collection for University of Nebraska - Lincoln. AAI28490043.