Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Safe Configurable Maps for Off-Road Sites: Proposed methods for safe and efficient map updates for autonomous trucks
Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik.
2019 (Engelska)Självständigt arbete på avancerad nivå (yrkesexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
Abstract [en]

Autonomous vehicle technology is advancing at a very high pace and self-driving trucks on control-tower operated work sites is already a reality. These autonomous trucks need a highly accurate map of the surroundings for operation and navigation, and it is of great importance to be able to update that map with the ever-changing off-road work site. The autonomous fleet examined have to stop for every update of the site map, which induces unnecessary downtime when updating the site map frequently. The purpose of this work is to contribute to the development of safe configurable maps for autonomous vehicles on off-road sites by identifying and analyzing different map updating methods, proposing the best one, and suggesting how to implement it for this project's case. The result was five different map updating methods, which were evaluated with respect to efficiency and safety. Efficiency was evaluated by comparing total fleet downtime of the proposed solutions with the existing situation. Safety was evaluated by doing a fault tree analysis (FTA) for each proposed solution and comparing the relative size of the fault trees. Proposed Solution III using map tiles was chosen as the most appropriate method to implement for this project's case because it is both efficient and relatively simple. It divides the site map with a grid into smaller rectangular maps and only needs to stop vehicles which are inside the updated tile. The rest of the fleet is able to replace that tile parallel to operation and, therefore, total fleet downtime is significantly reduced. By reaching the stated goal, this work is in line with its original purpose and has contributed to the development of safe configurable maps for autonomous vehicles on off-road sites.

Ort, förlag, år, upplaga, sidor
2019.
Nyckelord [en]
Maps, updates, autonomous
Nationell ämneskategori
Farkostteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-74178OAI: oai:DiVA.org:ltu-74178DiVA, id: diva2:1320338
Externt samarbete
Scania CV AB
Ämne / kurs
Examensarbete, minst 30 hp
Utbildningsprogram
Civilingenjör, Maskinteknik
Handledare
Examinatorer
Tillgänglig från: 2019-06-05 Skapad: 2019-06-04 Senast uppdaterad: 2019-06-05Bibliografiskt granskad

Open Access i DiVA

fulltext(5989 kB)276 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 5989 kBChecksumma SHA-512
4cdd5a10fd8b872418cd3f856635afa96eb975aff55798c3f0de971632aa9483525c59bf4272079ed59ceb86b10a620126011cbf901d0acfc79a23d595814707
Typ fulltextMimetyp application/pdf

Sök vidare i DiVA

Av författaren/redaktören
Christoffersson, Joakim
Av organisationen
Institutionen för teknikvetenskap och matematik
Farkostteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 276 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 307 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf