Recently, sensors such as radars and cameras have been widely used in automotives, especially in Advanced Driver-Assistance Systems (ADAS), to collect information about the vehicle's surroundings. Stereo cameras are very popular as they could be used passively to construct a 3D representation of the scene in front of the car. This allowed the development of several ADAS algorithms that need 3D information to perform their tasks. One interesting application is Road Surface Preview (RSP) where the task is to estimate the road height along the future path of the vehicle. An active suspension control unit can then use this information to regulate the suspension, improving driving comfort, extending the durabilitiy of the vehicle and warning the driver about potential risks on the road surface. Stereo cameras have been successfully used in RSP and have demonstrated very good performance. However, the main disadvantages of stereo cameras are their high production cost and high power consumption. This limits installing several ADAS features in economy-class vehicles. A less expensive alternative are monocular cameras which have a significantly lower cost and power consumption. Therefore, this thesis investigates the possibility of solving the Road Surface Preview task using a monocular camera. We try two different approaches: structure-from-motion and Convolutional Neural Networks.The proposed methods are evaluated against the stereo-based system. Experiments show that both structure-from-motion and CNNs have a good potential for solving the problem, but they are not yet reliable enough to be a complete solution to the RSP task and be used in an active suspension control unit.

La reconstruction de routes est un sujet important dans le domaine de la modélisation 3D. Nous proposons dans cette thèse des méthodes pour construire des modèles de réseaux routiers réalistes à partir de données SIG.Tout d'abord, les problèmes de la reconstruction d'un simple axe de route à partir d'une polyligne sont étudiés. Nous présentons un modèle de courbe par morceaux G1 qui est non seulement fidèle à l'axe de la route réelle mais aussi pratique et pas onéreux à obtenir. Notre algorithme Least Square Growing crée, comme dans le génie civil, une courbe horizontale et une courbe verticale, puis les combine pour produire un axe routier 3D approchant la polyligne. Traiter individuellement des polylignes conduit à des discontinuités aux intersections des routes. C’est pourquoi nous introduisons une procédure pour détecter les relations entre les routes, afin de proposer un processus global pour reconstruire tous les axes routiers avec prenant en compte les nouvelles contraintes sur les extrémités des routes.Enfin, sur la base de l'axe de la route et les propriétés résultant de la route dans la base de données SIG, nous définissons un modèle mathématique de la surface de la route en respectant les contraintes essentielles de surfaces routières réelles. Pour produire une géométrie représentant la surface de la route finale, nous construisons un maillage grossier de la carte d'élévation du terrain d'entrée, que nous subdivisons adaptativement le long de l'axe de la route, puis ajustons l'altitude des sommets concernés à la valeur définie par le modèle mathématique de la route afin de parvenir à une correspondance correcte entre le terrain et la vraie route. / Road reconstruction is an important topic in 3D modeling. Recently, the steady development of many critical-accurate applications has posed a high demand for realistic road models, taking into account road-design constraints selected from civil engineering. We propose in this dissertation methods for building realistic road network models from GIS data.Firstly, problems of single road axis reconstruction from a polyline are addressed. We present a novel G1-piecewise-curve model which is not only faithful to the real road axis but also convenient and cheap to render. Our Least Square Growing Algorithm creates, as in civil engineering, an horizontal and a vertical curves, then combines them to produce a 3D road axis fitting well the polyline. Processing individual polyline will leads to the discontinuities at road intersections so we introduce a procedure to detect road relations, then we propose a global process to reconstruct all road axes with the considerations on further constraints of road ends.Finally, based upon the resulting road axis and road properties in the GIS database, we define a mathematical road surface model respecting the essential constraints of real road surfaces. To produce a geometry representing the final road surface, we build a coarse mesh from the input terrain highmap, subdivide it adaptively along the road axis, then adjust the altitude of concerning vertices to the value defined by the mathematical model in order to attain a correct mapping between the terrain and the real road.

The aim of this diploma thesis is reconstruction design of Húskova Street in Brno, which is located in Černovice district. Static traffic, cycling and movement of pedestrians will be solved within reconstruction. The project was processed in four variant solutions. Variant A is emphasised on maximal number of parking space in draft form 45° angled parking driving ahead, variant B takes into account existing condition, the number of parking space and cycling, variant C leaves current status and adjustment consists of marking by horizontal road marking, in variant D is once again effort for maximal number of parking space, but with driving to the place by reversing. Evaluation of variants was done and variant B was chosen for detailed processing

This diploma thesis deals with the relation between the longitudinal friction coefficient dependence on measuring speed and the value of road surface macrotexture MPD. Results of longitudinal friction coefficient and value of MPD measurement on 73 sections are included in this thesis. The results were compared by regression analysis and its outcome was used for determination of formula that enable calculation of longitudinal friction coefficient for any operating speed when longitudinal friction coefficient for 60 km/h and value of macrotexture are known. The evaluation scale for skid resistance index (SRI) was also determined in this thesis. It could be used for evaluation of skid resistance independently of the type of device used for friction coefficient measurement.

Non-exhaust PM10 is an issue in the urban environment linked to health issues. Emissions of non-exhaust PM10 is relatable to pavement properties. Also of importance is resuspension of road dust stored from surfaces. This depends on the traffic and metrological conditions. Given this, the purpose of the thesis was to give an overview limited to Sweden and the Nordic countries regarding non-exhaust PM10 emissions and road dust. The overview includes how particles are related to human health. Also included is the principle of how particles are emitted from road surface and tyre interaction, both directly and through resuspension of road dust. This thesis also includes an overview of how the use of studded tyres impact on asphalt surfacings and how the properties of the materials used impact on the abrasion wear. This is then linked to the emissions of non-exhaust particles. Further described is how measurements can be done of ambient particles and road dust, followed on two major models for road abrasion wear and non-exhaust PM prediction. Also included is how road operation, e.g. traction sanding and dust binding, influence the particle emissions together with other options to reduce the emissions through, e.g. limiting the use of studded tyres. One special issue discussed in this thesis is the lack of holistic view regarding the environmental problems in the urban environment with focus on particle emissions and road noise emissions, both from the road surface and tyre interaction. Currently the most problematic issue is prioritized and the resulting solution to that specific problem might increase other problems. This thesis shows that much knowledge is available regarding non-exhaust PM10 emissions and road dust, but also that several knowledge gaps exists. Several suggestions on further studies is given together with a brief overview on the continued work forward from this thesis. / Icke-avgasemissioner av PM10 är ett problem i urbana miljöer länkat till flera hälsoaspekter. Dessa emissioner kan relateras till beläggningars egenskaper. Även resuspension av vägdamm från ytor är av betydelse och beror på både trafiken och meterologin. Baserat på detta är syftet med denna avhandling att ge en översikt kring icke-avgas PM10 emissioner och vägdamm, begränsat till Sverige och de övriga nordiska länderna. Denna översikt inkluderar hur partiklar relaterar till människans hälsa. Annat som inkluderas är hur partiklarna emitteras från vägyta-däckinteraktionen, både direkt och genom resuspension av vägdamm. Avhandlingen inkluderar även en översikt kring hur användandet av dubbdäck inverkar på vägbeläggningar och hur dess egenskaper inverkar på nötningsslitage. Detta länkas därefter till partikelemissioner. Vidare beskrivs även hur mätningar kan genomföras av partiklar samt vägdamm vilket följs upp av beskrivningar kring två större modeller kring prediktion av nötningsslitage och prediktion av icke-avgasemissioner. Även hur driftåtgärder inverkar på emissionerna tillsammans med alternativ för att minska emissionerna tas upp. Ett särskilt problem som tas upp i avhandlingen är bristen på helhetssyn beträffande miljöproblem i den urbana miljön med fokus på partikel- och bulleremissioner från vägyta-däckinteraktionen. För närvarande brukar det värsta problemet prioriteras och lösningen till det detta problem kan i sin tur medföra att andra miljöproblem istället förvärras. Denna avhandling visar på att mycket kunskap existerar kring icke-avgasemissioner av PM10 och kring vägdamm, men även att flertalet kunskapsluckor existerar. Flertalet förslag på vidare studier ges tillsammans med en överblick kring det fortsatta arbetet. / <p>QC 20180202</p>

This diploma thesis deals with demolition of the motorway overpass. The bridge (overpass) is located over the D1 motorway from Prag to Brno at the 115,881 km. On the brigde runs the local comunication II/352 between villages Švábka and Měšín. The bridge demolition is part of the D1 renovation plan. The main reason behind the demolitions si that the bridge no longer meets it´s lenght requierments. During the demolition and construction will be any use of II/352 for public transport over the bulding site forbiden. This diploma thesis include technical report for construction technology project, time and financial evaluation of the project. Also the thesis deals with the selected technological regulations of carried out activities, timetable of controls and tests, trafice relationships on wider scale, a list of main building machines and mechanisms with their specification, a concept of the construction site, health and safety requlations, and in detail plans for realization of a road surface layers.