Highway roads typically conform to the elevation of the landscape near the roadway. However, elev... more Highway roads typically conform to the elevation of the landscape near the roadway. However, elevation data, including vertical grade, sag or crest curves, and lateral elevation such as superelevation are not included in databases, and may only be indirectly identified from high-density point cloud data. To improve current approaches, a sensorindependent reference useful for identifying road elevation and recording data was developed to augment data collection for the Midwest Virtual Road Corridor (MVRC). The method utilizes vehicle dynamics concepts parting from the traditional Serret-Frenet formulation and generalizes to the case of modeling roads in three-dimensional space. This augmentation relies on measuring road grade from geodetic software and comparing it to empirical vehicle orientations. An experiment was performed to obtain vehicle on-board data and compare it with road grade reference. Results are analyzed and studied in the context of augmentation for the MVRC method.
This repository was created for sharing the code and data used in a publication called "Road... more This repository was created for sharing the code and data used in a publication called "Road Reference Profiles based on Optimization Routines for Connected and Automated Vehicles". The data and mathematical development of the code is found in the paper. Three main files are provided within this repository: (1) Visual Aids for understanding of the research and methodology presented (2) Source Code for Reference and Investigation as per Licensed rules (3) Source Data for the results presented in the publication
A new map framework is proposed to improve the guidance and trajectory prediction capabilities of... more A new map framework is proposed to improve the guidance and trajectory prediction capabilities of connected and automated vehicles (CAVs), even in challenging conditions of low visibility and adverse environmental effects. Based on the fusion of vehicle dynamics and road design standards, the map framework provides a consolidated collection of critical reference points of roadways, such as centerlines and information about the shape of the roadway in the vicinity of a vehicle, including curvature and road alignment angle. Roads are discretized using reference points, and simple parameters are used to connect adjacent segments representing the road shape. Additional data can be appended to the map, including elevation and roadside slope data, variable speed limits, and lane
Highway roads typically conform to the elevation of the landscape near the roadway. However, elev... more Highway roads typically conform to the elevation of the landscape near the roadway. However, elevation data, including vertical grade, sag or crest curves, and lateral elevation such as superelevation are not included in databases, and may only be indirectly identified from high-density point cloud data. To improve current approaches, a sensorindependent reference useful for identifying road elevation and recording data was developed to augment data collection for the Midwest Virtual Road Corridor (MVRC). The method utilizes vehicle dynamics concepts parting from the traditional Serret-Frenet formulation and generalizes to the case of modeling roads in three-dimensional space. This augmentation relies on measuring road grade from geodetic software and comparing it to empirical vehicle orientations. An experiment was performed to obtain vehicle on-board data and compare it with road grade reference. Results are analyzed and studied in the context of augmentation for the MVRC method.
This repository was created for sharing the code and data used in a publication called "Road... more This repository was created for sharing the code and data used in a publication called "Road Reference Profiles based on Optimization Routines for Connected and Automated Vehicles". The data and mathematical development of the code is found in the paper. Three main files are provided within this repository: (1) Visual Aids for understanding of the research and methodology presented (2) Source Code for Reference and Investigation as per Licensed rules (3) Source Data for the results presented in the publication
A new map framework is proposed to improve the guidance and trajectory prediction capabilities of... more A new map framework is proposed to improve the guidance and trajectory prediction capabilities of connected and automated vehicles (CAVs), even in challenging conditions of low visibility and adverse environmental effects. Based on the fusion of vehicle dynamics and road design standards, the map framework provides a consolidated collection of critical reference points of roadways, such as centerlines and information about the shape of the roadway in the vicinity of a vehicle, including curvature and road alignment angle. Roads are discretized using reference points, and simple parameters are used to connect adjacent segments representing the road shape. Additional data can be appended to the map, including elevation and roadside slope data, variable speed limits, and lane
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Papers by Ricardo Jacome