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Table of contents
1 Introduction
1.1 Background
1.2 Volvo 3P
1.3 Problem Specification
1.4 Limitations
1.5 Thesis Outline
2 Position System
2.1 Satellite Navigation
2.1.1 Global Positioning System
2.1.2 Differential GPS
2.1.3 Carrier-Phase, L1\L2
2.2 Inertial Navigation System
2.3 Combined DGPS/INS System
2.4 Vision System
2.4.1 Line Following Systems
2.4.2 Camera Systems
2.4.3 Radar Sensors
2.4.4 Laserscanners
2.5 Complete Position System
3 Communication Systems
3.1 STDMA
3.1.1 VDL Mode 4
3.1.2 TACSYS/CAPTS
3.1.3 STDMA Summary
3.2 Wireless Local Area Network
3.2.1 IEEE 802.11
3.2.2 WLAN With Dual Antennas
3.2.3 Selective Channel Scanning
3.2.4 Handover Using Neighbour Graph
3.2.5 IEEE 802.11 Summary
3.2.6 ZigBee
3.2.7 WiMax
4 Collision Avoidance
4.1 Collision Avoidance Prediction
4.2 Vehicle States Message
4.3 Collision Avoidance Vision
5 Measurements and Data Collection
5.1 GPS coverage
5.1.1 Static GPS Coverage Hällered
5.1.2 Test Track GPS Coverage
5.1.3 GPS Accuracy
5.1.4 Dual GPS
5.1.5 Differential GPS
5.2 Laser Scanner Data Collection
5.3 WLAN coverage
5.3.1 WLAN range
6 Conclusions
6.1 Positioning Conclusions
6.1.1 Positioning
6.1.2 Vision
6.2 Communication Conclusions
6.2.1 WLAN
6.3 Survaillence Conclusions
6.4 Collision Avoidance Conclusions
6.5 System Movability Conclusions
6.6 Future Work
6.6.1 Positioning System
6.6.2 Lidar System
6.6.3 Communication System
6.6.4 Collision Avoidance System
6.6.5 Fault Detection
Bibliography
