Mechanical & Materials Engineering, Department of


First Advisor

Cody Stolle

Date of this Version



Jacome R. O. (2021). On Road Coordinates for Autonomous Vehicle Guidance. University of Nebraska - Lincoln


A DISSERTATION Presented to the Faculty of The Graduate College at the University of Nebraska-Lincoln In Partial Fulfillment of Requirements For the Degree of Doctor of Philosophy, Major: Mechanical Engineering and Applied Mechanics, Under the Supervision of Professor Cody S. Stolle. Lincoln, Nebraska: March, 2021

Copyright © 2021 Ricardo Osmar Jacome


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.

Advisor: Cody S. Stolle