Autonomous Ground Vehicles -- Contents -- Preface -- Chapter 1 Introduction -- 1.1 Background in Autonomy in Cars -- 1.2 Components of Autonomy -- 1.2.1 Sensors -- 1.2.2 Actuators -- 1.2.3 Communication -- 1.2.4 Intelligence -- 1.3 Notes on Historical Development -- 1.3.1 Research and Experiments on Autonomous Vehicles -- 1.3.2 Autonomous Driving Demonstrations -- 1.3.3 Recent Appearances in the Market -- 1.4 Contents of this Book -- References -- Chapter 2 The Role of Control in Autonomous Systems -- 2.1 Feedback -- 2.1.1 Speed Control Using Point Mass and Force Input -- 2.1.2 Stopping -- 2.1.3 Swerving -- 2.2 A First Look at Autonomous Control -- 2.2.1 Car Following and Advanced Cruise Control -- 2.2.2 Steering Control Using Point Mass Model: Open Loop Commands -- 2.2.3 Steering Control Using Point Mass Model: Closed-Loop Commands -- 2.2.4 Polynomial Tracking -- 2.2.5 Continuous and Smooth Trajectory Establishment -- 2.2.6 The Need for Command Sequencing -- References -- Chapter 3 System Architecture and Hybrid System Modeling -- 3.1 System Architecture -- 3.1.1 Architectures Within Autonomous Vehicles -- 3.1.2 Task Hierarchies for Autonomous Vehicles -- 3.2 Hybrid System Formulation -- 3.2.1 Discrete Event Systems, Finite State Machines, and Hybrid Systems -- 3.2.2 Another Look at ACC -- 3.2.3 Application to Obstacle Avoidance -- 3.2.4 Another Example: Two Buses in a Single Lane -- 3.3 State Machines for Different Challenge Events -- 3.3.1 Macrostates: Highway, City, and Off-Road Driving -- 3.3.2 The Demo '97 State Machine -- 3.3.3 Grand Challenge 2 State Machine -- 3.3.4 The Urban Challenge State Machine -- References -- Chapter 4 Sensors, Estimation, and Sensor Fusion -- 4.1 Sensor Characteristics -- 4.2 Vehicle Internal State Sensing -- 4.2.1 OEM Vehicle Sensors -- 4.2.2 Global Positioning System (GPS) -- 4.2.3 Inertial Measurements.

4.2.4 Magnetic Compass (Magnetometer) -- 4.3 External World Sensing -- 4.3.1 Radar -- 4.3.2 LIDAR -- 4.3.3 Image Processing Sensors -- 4.3.4 Cooperative Infrastructure Technologies -- 4.4 Estimation -- 4.4.1 An Introduction to the Kalman Filter -- 4.4.2 Example -- 4.4.3 Another Example of Kalman Filters: Vehicle Tracking for Crash Avoidance -- 4.5 Sensor Fusion -- 4.5.1 Vehicle Localization (Position and Orientation) -- 4.5.2 External Environment Sensing -- 4.5.3 Occupancy Maps and an Off-Road Vehicle -- 4.5.4 Cluster Tracking and an On-Road Urban Vehicle -- 4.6 Situational Awareness -- 4.6.1 Structure of a Situation Analysis Module -- 4.6.2 Road and Lane Model Generation -- 4.6.3 Intersection Generation -- 4.6.4 Primitives -- 4.6.5 Track Classification -- 4.6.6 Sample Results -- References -- Chapter 5 Examples of Autonomy -- 5.1 Cruise Control -- 5.1.1 Background -- 5.1.2 Speed Control with an Engine Model -- 5.1.3  More Complex Systems -- 5.2 Antilock-Brake Systems -- 5.2.1 Background -- 5.2.2 Slip -- 5.2.3 An ABS System -- 5.3 Steering Control and Lane Following -- 5.3.1 Background -- 5.3.2 Steering Control -- 5.3.3 Lane Following -- 5.4 Parking -- 5.4.1 Local Coordinates -- 5.4.2 Parking Scenarios: General Parking Scenario and DARPA Urban Challenge Autonomous Vehicle Parking Scenario -- 5.4.3 Simulation and Experimental Results -- References -- Chapter 6 Maps and Path Planning -- 6.1 Map Databases -- 6.1.1 Raster Map Data -- 6.1.2 Vector Map Data -- 6.1.3 Utilizing the Map Data -- 6.2 Path Planning -- 6.2.1 Path Planning in an Off-Road Environment -- 6.2.2 An Off-Road Grid-Based Path Planning Algorithm -- 6.2.3 Other Off-Road Path Planning Approaches -- 6.2.4 An On-Road Path Planning Algorithm -- References -- Chapter 7 Vehicle-to-Vehicle and Vehicle-to-Infrastructure Communication -- 7.1 Introduction.

7.2 Vehicle-to-Vehicle Communication (V2V) -- 7.3 Vehicle-to-Infrastructure Communication (V2I) -- 7.4 Communication Technologies -- 7.4.1 Unidirectional Communication Through Broadcast Radio -- 7.4.2 Cellular/Broadband -- 7.4.3 Information Showers -- 7.4.4 Narrowband Licensed 220 MHz -- 7.4.5 Dedicated Short-Range Communication (DSRC) -- 7.5 802.11p/WAVE DSRC Architecture and U.S./EU Standards -- 7.5.1 802.11P Physical Layer -- 7.5.2 1609.4 Channelization Overview -- 7.5.3 1609.3 Network Management -- 7.5.4 EU Programs and Standards Activity -- 7.6 Potential Applications in an Autonomous Vehicle -- 7.6.1 Platoons and Adaptive Cruise Control (ACC) -- 7.6.2 Merging Traffic -- 7.6.3 Urban Driving with Stop-and-Go Traffic -- References -- Selected Bibliography -- Chapter 8 Conclusions -- 8.1 Some Related Problems -- 8.1.1 Fault Tolerance -- 8.1.2 Driver Modeling -- 8.2 And the Beat Goes On -- References -- Appendix -- A.1 Two-Wheel Vehicle (Bicycle) Model -- A.2 Full Vehicle Model Without Engine Dynamics -- A.2.1 Lateral, Longitudinal, and Yaw Dynamics -- A.2.2 Suspension Forces and Tire Dynamics -- A.2.3 Tire Forces -- About the Authors -- Index.