Algunas aplicaciones de carretera actuales, tales como los servicios de información al viajero, llamadas de emergencia automáticas, control de flotas o telepeaje eletrónico, requieren una solución de calidad al problema del posicionamiento de un vehículo terrestre, que funcione en cualquier entorno y a un coste razonable. Esta tesis presenta una solución a este problema, fusionando para ello la información procedente principalmente de sensores de navegación por satélite y sensores inerciales. Para ello emplea un nuevo filtro de fusion multisensorial IMM-EKF. El comportamiento del sistema ha sido analizado en entornos reales y controlados, y comparado con otras soluciones propuestas. Finalmente, su aplicabilidad al problema planteado ha sido verificada. / Road applications such as traveller information, automatic emergency calls, freight management or electronic fee, collection require a onboard equipment (OBE) capable to offer a high available accurate position, even in unfriendly environments with low satellite visibility at low cost. Specifically in life critical applications, users demand from the OBEs accurate continuous positioning and information of the reliability of this position. This thesis presents a solution based on the fusion of Global Navigation Satellite Systems (GNSS) and inertial sensors (GNSS/INS), running an Extended Kalman Filter combined with an Interactive Multi-Model method (IMM-EKF). The solution developed in this work supplies continuous positioning in marketable conditions, and a meaningful trust level of the given solution. A set of tests performed in controlled and real scenarios proves the suitability of the proposed IMM-EKF implementation, as compared with low cost GNSS based solutions, dead reckoning systems and single model extended Kalman filter (SM-EKF) solutions.

This application is created to provide valid and relevant travel information to travelers on their journey. The application is proposed as a demonstration for seamless communications in the VINNOVA-sponsored project PIITSA (Personal Information Intelligent Transport systems through Seamless communications and Autonomous decisions). The PIITSA-project is a cooperation between Blekinge Institute of Technology (BTH), Saab AB, SP Swedish National Testing and Research Institute and Swedish Road Administration region Stockholm. The project is going on under three years, and the goal is to define communication and decision functions which will make it easier for ITS-applications (Intelligent Transport Systems and Services) that have the need of supplying personalised information. This project presents a solution to the question “How do I get from point A to point B in any case”. All that the user needs is a PDA with the application installed and being able to connect to the service via a mobile network. If the user has specified a route in the application, then the user will receive up-to-date information on how to get to his destination. This information is presented on the user’s PDA. If something happens on the current route, then the user will get an automatic message sent to him presenting the problem and give him a new travel route. Thanks to this the user won’t be stuck in the traffic problem and will probably reach its destination in time. / Examensarbetet tog fram en demonstrationstjänst för det VINNOVA-sponsrade projekt PIITSA (Personlig Information i Intelligenta Transportsystem genom Sömlös kommunikation och Autonoma beslut). Den används på en handdator och hjälper resenrärer "att komma från A till B i alla fall" genom att ge möjlighet att söka eller lägga in reserutter och övervaka aktuell trafikinformation i samband med dessa rutter, främst avseende kollektivtrafik i Stockholmsområdet. Mervärdet består i att resenären blir varnat automatiskt om någonting händer längs de valda rutterna och ges möjlighet att få en ny rutt. Applikationen kan användas i skarp läge. / Primary contact: Markus Fiedler, +46 708 537339

Die Verkehrstelematik, im Englischen als Intelligent Transport Systems (ITS) bezeichnet, kann durch die Verbindung von Telekommunikation, Informatik und Automatisierung wesentlich zur Sicherung der Mobilität beitragen. Dabei kann durch Erfassen, Übermitteln, Verarbeiten und Darstellen von Verkehrsdaten in Telematiksystemen der Verkehr prognostiziert, gesteuert, gelenkt, geleitet und organisiert werden. An der Fakultät Verkehrswissenschaften „Friedrich List“ der TU Dresden beschäftigt sich das Institut für Verkehrstelematik mit verkehrstelematischen Fragestellungen und Anwendungen. An der Professur für Verkehrsleitsysteme und -prozessautomatisierung stehen dabei Lehre und Forschung in den Themengebieten Verkehrs- und Betriebsleitsysteme, Verkehrssteuerungstechnik, Verkehrsprozessautomatisierung und Verkehrsmanagement sowohl des schienengebundenen als auch des straßengebundenen Verkehrs im Vordergrund. Um aktuelle Forschungs- und Entwicklungsergebnisse einem breiten Fachpublikum verfügbar zu gestalten, veröffentlicht die Professur mit der Schriftenreihe „Verkehrstelematik“ in loser Folge interessante Forschungsthemen und Beitrage aus ihrem unmittelbaren Wirkungsfeld, der Verkehrstelematik allgemein und darüber hinaus auch Beitrage zu interdisziplinär aufgestellten Fragestellungen. Damit verbunden ist die Hoffnung, dass die aktuellen Forschungsergebnisse in die Praxis einfließen und dabei helfen, den Verkehr flüssiger, ressourcenschonender und effizienter zu gestalten. / Traffic telematics and Intelligent Transport Systems (ITS) can significantly contribute to securing mobility by combining telecommunications, information technology and automation. By capturing, transmitting, processing and displaying traffic data in traffic emblematic systems, the traffic can be predicted, controlled, directed, managed and organized. The Institute of Transport Telematics at the Faculty of Traffic Sciences 'Friedrich List' of the Technische Universität Dresden (TUD) deals with traffic telematics issues and applications. Teaching and research in the fields of traffic guidance and operation control systems, traffic control technology, process automation and traffic management of both rail-bound and road-bound traffic are in the focus of the Chair of Traffic Control and Process Automation. In order to make current research and development results available to a broad professional audience, the professorship publishes interesting research topics and contributions from their immediate field of action, namely traffic telematics in general, and also contributions to interdisciplinary issues with the series 'Verkehrstelematik'. Linked to this is the hope that current research findings will be put into practice and help to make traffic smoother, Eco-friendly and more efficient.

Der Paradigmenwechsel zur Entwicklungsmethodik innerhalb verteilter Kommunikationssysteme schlägt sich auch in der Telematik zum Anwendungspotential und Systemkomplexität nieder. Dies liefert eine neue Auffasung dessen, was den transparenten Datenkanal ausmacht.

Der Paradigmenwechsel zur Entwicklungsmethodik innerhalb verteilter Kommunikationssysteme schlägt sich auch in der Telematik zum Anwendungspotential und Systemkomplexität nieder. Dies liefert eine neue Auffasung dessen, was den transparenten Datenkanal ausmacht.

Vehicular ad hoc networks (VANETs) are a hot topic in the intelligent transport system (ITS) area. The introduction of wireless communications between vehicles will enable many useful applications to enhance road traffic safety as well to increase efficiency. The standardization of IEEE 802.11p, being an amendment to IEEE 802.11 intended for VANETS, faces many challenges. In Europe a 30 MHz spectrum at 5.9 GHz have been dedicated for ITS and this spectrum has to be used to its full potential. For this reason this thesis compares a 20 MHz wide frequency channel with a 10 MHz wide through measurements using 802.11p hardware. The measurements were conducted on a highway with relative speeds of up to 240 km/h. The results from these initial measurements show that a 20 MHz channel does not perform worse than a 10 MHz channel despite the high relative speeds and large metal signs scattering the signals. What enabled this thesis to do the measurements was Halmstad University‟s participation in the Grand Cooperative Driving Challenge (GCDC) 2011. In GCDC nine teams mostly from Europe competed in having the vehicle that had the best behaviour in a platoon of vehicles using cooperative adaptive cruise control (CACC), the CACC algorithm controlled the vehicles‟ acceleration and breaking autonomously based on in-vehicle sensors and communicated messages between the vehicles in the platoon using 802.11p. This thesis implemented the communication part of Halmstad University‟s vehicle. The challenge was held in Helmond, Holland, May 14-15, 2011. Halmstad University‟s team finished in second place. / CoAct

Road transport mobility continues to be a challenge to the City of Johannesburg (CoJ)’s economy in general. Traffic signals, their remote monitoring and control systems are the current implemented Intelligent Transport Systems (ITS), but daily systematic faults and maintenance uncertainties on such systems decrease the effectiveness of traffic engineers’ intersections optimization techniques. Inefficient electrical power supply to such ITS is a challenge, with conditional power cuts and fluctuations, uncertainties on traffic control system faults. Another factor leading to the problem is the communication channel which is using traditional modems which are not reliable. Reporting through both customer complaints and such unreliable remote monitoring systems makes maintenance to be ineffective. In this dissertation, the factors leading to the faults and uncertainties are considered. The proposed solution considers the important concerns of ITS, such as electrical power source performance optimization technique, road traffic control systems compatibility and communications systems / Electrical and Mining Engineering / M. Tech. (Electrical Engineering)

La localisation précise des véhicules et la sécurité des échanges sont deux grands axes qui font la fiabilité des services fournis dans les systèmes de transport intelligent. Ces dernières années, elles font l’objet de nombreux projets de recherche pour des champs d’application divers. Dans cette thèse, le contexte d’application est la réalisation d’un service de télépéage utilisant la technologie ITS-G5. Cette technologie de communication sans-fil permet dans un premier temps le partage des informations de sécurité routière entre les véhicules (V2V), le véhicule et l’infrastructure (V2I). Dans cette thèse, on propose une architecture permettant d’échanger des transactions de télépéage utilisant les équipements communicants en ITS-G5 embarqués dans les véhicules connectés et les unités bord de route (UBR) de l’infrastructure. Les problématiques de nos travaux de recherche se concentrent sur la méthode de localisation des véhicules ayant effectué la transaction afin de pouvoir la valider et sur la sécurité de l’architecture proposée pour assurer l’échange de cette transaction. Afin de bien localiser les véhicules lors du passage au péage, notre approche propose la compréhension de la cinématique du véhicule par une modélisation adéquate à partir des données recueillies dans les messages coopératifs (CAM : Cooperative Awareness Message) en approche du péage. Cela améliorera les informations de géolocalisation déjà présentes. Notre objectif est d’arriver à une précision de moins d’un mètre pour distinguer 2 véhicules adjacents. D’autre part, le protocole de sécurité proposé permet d’assurer l’authentification des équipements participant à l’échange et à la validation de la transaction, l’intégrité des données échangées ainsi que la confidentialité des échanges compte tenu du contexte de communication sans-fil et de la sensibilité des données échangées. Une preuve de concept de la solution de télépéage utilisant la technologie ITS-G5 est développée et intègre nos deux contributions. / The precise localization of vehicles and the security of communication are requirements that make almost of the services provided in intelligent transport systems (ITS) more reliable. In recent years, they have been the subject of numerous research projects for various fields of application. In this thesis, the context is the development of an electronic toll service using the ITS-G5 technology. This wireless communication technology initially allows the sharing of traffic safety information between vehicles (V2V), vehicle and infrastructure (V2I). In our work, we propose a tolling application using equipment operating in ITS-G5 embedded in the connected vehicles and roadside units. For this, ensuring both precise geolocation of the vehicles and security of communication are required to validate the transaction.In order to properly locate the vehicles during the toll crossing, our approach is based on the understanding of the kinematics of the vehicle through a suitable modeling from the data collected in the cooperative messages (called CAM: Cooperative Awareness Message). This approach aims to improve the geolocation information already present in the message. Our goal is to achieve vehicle localization with an accuracy lower than one meter to distinguish two adjacent vehicles. On the other hand, the proposed tolling protocol ensures the authentication of the equipment or entities involved in the exchange and the validation of the transaction, the integrity of the transmitted data as well as the confidentiality of the communication. In this way, we take into account the context of the wireless communication and the sensitivity of the exchanged data. Our two contributions are integrated in the implemented Proof of Concept of the tolling application using the ITS-G5 technology.

Dans ce travail, nous nous focalisons sur l’ajout de contraintes temporelles dans les Bases de Données de Capteurs Sans Fil (BDCSF). La cohérence temporelle d’une BDCSF doit être assurée en respectant les contraintes temporelles des transactions et la validité temporelle des données, pour que les données prélevées par les capteurs reflètent fidèlement l’état réel de l’environnement. Cependant, les retards de transmission et/ou de réception pendant la collecte des données peuvent conduire au non-respect de la validité temporelle des données. Une solution de type bases de données s'avère la plus adéquate. Il faudrait pour cela faire coïncider les aspects BD traditionnelles avec les capteurs et leur environnement. À cette fin, les capteurs déployés au sein d'un réseau sans fils sont considérés comme une table d'une base de données distribuée, à laquelle sont appliquées des transactions (interrogations, mises à jour, etc.). Les transactions sur une BD de capteurs nécessitent des modifications pour prendre en compte l'aspect continu des données et l'aspect temps réel. Les travaux réalisés dans cette thèse portent principalement sur trois contributions : (i) une étude comparative des propriétés temporelles entre une collecte périodique des données avec une base de données classique et une approche de traitement des requêtes avec une BDCSF, (ii) la proposition d’un modèle de traitement des requêtes temps réel, (iii) la mise en œuvre d’une BDCSF temps réel, basée sur les techniques décrites dans la deuxième contribution. / In this thesis, we are interested in adding real-time constraints in the Wireless Sensor Networks Database (WSNDB). Temporal consistency in WSNDB must be ensured by respecting the transaction deadlines and data temporal validity, so that sensor data reflect the current state of the environment. However, delays of transmission and/or reception in a data collection process can lead to not respect the data temporal validity. A database solution is most appropriate, which should coincide with the traditional database aspects with sensors and their environment. For this purpose, the sensor in WSN is considered as a table in a distributed database, which applied transactions (queries, updates, etc.). Transactions in a WSNDB require modifications to take into account of the continuous datastream and real-time aspects. Our contribution in this thesis focus on three parts: (i) a comparative study of temporal properties between a periodic data collection based on a remote database and query processing approach with WSNDB, (ii) the proposition of a real-time query processing model, (iii) the implementation of a real time WSNDB, based on the techniques described in the second contribution.

MURP / Department of Urban and Regional Planning / This study focuses on the evaluation of intelligent transport systems making use of the BRT-Rea-vaya in Johannesburg as a case study. This study was motivated by the observation that few studies have been conducted in the study area that tackle explicitly intelligent transport systems evaluation. Intelligent transport systems can assist in improving private and public transportation systems and operations performance. In the public sector where various modes of transport such as the taxi, metro bus, metro rail, Gautrain and the BRT Rea-vaya operates, intelligent transport systems present opportunities for improving Level of Service (LOS) delivery. In Johannesburg, the BRT Rea vaya system was adopted by the Johannesburg metropolitan municipality to provide a safe, reliable, efficient and accessible public transport system. The BRT Rea vaya system is aimed at providing a better public transport, operating systems and service. For the BRT Rea vaya systems to achieve its primary goals and objectives, an intelligent transport system was incorporated to better manage the BRT Rea-vaya systems operations and activities. The study disclosed the status quo, opinions and attitudes of commuters regarding their experiences with the BRT Rea vaya public transport systems in Johannesburg. Furthermore, the study investigated whether the original objectives and aims of intelligent transport system in the BRT Rea-vaya have been meet. A central theme of the investigation is seeking to understand constraints and opportunities regarding BRT Rea-vaya intelligent transport systems‘ operations and activities in Johannesburg. The use of primary and secondary data such as questionnaires, key informant interviews, observation, journals and previous researches related to intelligent transport systems were used to acquire an in-depth understanding of the operational management of BRT Rea-vaya intelligent transport system. Collected data was analyzed using Statistical Package for Social Sciences (SPSS) with the aid of Microsoft Excel making use of descriptive statistics, regression analysis, cross tabulation and chi-square test. This was presented using tables, graphs, maps etc. Qualitative data was analyzed making use of a thematic approach. The study resonates in the need for rapid public transport systems to provide lessons for improving and adopting intelligent transport systems. As an end product, the research provided a framework of analysis on how to integrate intelligent transport systems in the context of Bus rapid transit systems.