Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940398
Jérémie Daniel, Jean-Philippe Lauffenburger
This paper deals with a Speed Limit Determination Advanced Driver Assistance System (ADAS) performing the combination of a navigation system and a Speed Limit Sign Recognition System (SLSR). The present strategy is based on a multi-level data fusion using the Evidence theory. In a first step, the sensor reliabilities are estimated using indicators provided by the sources. Simultaneously, a multi-criterion fusion is processed on attributes extracted from the navigation system to detect its potential erroneous data and define the best navigation limit speed candidate. The second fusion level - the multi-sensor fusion - considers the navigation and the camera-based SLSR to be independent and specialized. In addition, the conflict is interpreted as an additional source of information for the final speed limit definition. The benefits of the proposed solution are shown through simulations and real experiments.
{"title":"Conflict management in multi-sensor dempster-shafer fusion for speed limit determination","authors":"Jérémie Daniel, Jean-Philippe Lauffenburger","doi":"10.1109/IVS.2011.5940398","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940398","url":null,"abstract":"This paper deals with a Speed Limit Determination Advanced Driver Assistance System (ADAS) performing the combination of a navigation system and a Speed Limit Sign Recognition System (SLSR). The present strategy is based on a multi-level data fusion using the Evidence theory. In a first step, the sensor reliabilities are estimated using indicators provided by the sources. Simultaneously, a multi-criterion fusion is processed on attributes extracted from the navigation system to detect its potential erroneous data and define the best navigation limit speed candidate. The second fusion level - the multi-sensor fusion - considers the navigation and the camera-based SLSR to be independent and specialized. In addition, the conflict is interpreted as an additional source of information for the final speed limit definition. The benefits of the proposed solution are shown through simulations and real experiments.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128077116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940553
Quoc Huy Do, Long Han, Hossein Tehrani Niknejad, S. Mita
This paper proposed a practical path-planning algorithm for an autonomous vehicle or a car-like robot in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the vehicle's sensors. The algorithm is based on particle filter, Bézier curves and support vector machine to provide a safe path among various static and moving obstacles and to satisfy the vehicle's curvature constraints. The algorithm has been implemented and verified on the simulation software. Experimental results demonstrate the effectiveness of the proposed method in complicated conditions with existing of multi objects.
{"title":"Safe path planning among multi obstacles","authors":"Quoc Huy Do, Long Han, Hossein Tehrani Niknejad, S. Mita","doi":"10.1109/IVS.2011.5940553","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940553","url":null,"abstract":"This paper proposed a practical path-planning algorithm for an autonomous vehicle or a car-like robot in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the vehicle's sensors. The algorithm is based on particle filter, Bézier curves and support vector machine to provide a safe path among various static and moving obstacles and to satisfy the vehicle's curvature constraints. The algorithm has been implemented and verified on the simulation software. Experimental results demonstrate the effectiveness of the proposed method in complicated conditions with existing of multi objects.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131954964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940446
T. Michalke, F. Stein, Uwe Franke
In recent years, innovative passive safety concepts have been developed that have the potential to further decrease the number of victims of traffic accidents. Such complex passive safety systems (i.e. the Daimler PRE-SAFE Pulse or inflating metal structures in the vehicle doors) typically require lead times for activation/preparation that are longer than classical crash-detecting acceleration or pressure sensors can offer. These concepts require a close integration with active safety systems in order to allow an early assessment of the type, direction, and severity of an imminent collision. This contribution proposes a prototypical side collision detection system that is based on a monocular camera positioned in the side mirrors. For collision detection, the system fuses the detection results from optical flow and a warped bird's eye view in order to allow a robust system reaction in case of an imminent collision with a dynamic object.
{"title":"Towards a closer fusion of active and passive safety: Optical flow-based detection of vehicle side collisions","authors":"T. Michalke, F. Stein, Uwe Franke","doi":"10.1109/IVS.2011.5940446","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940446","url":null,"abstract":"In recent years, innovative passive safety concepts have been developed that have the potential to further decrease the number of victims of traffic accidents. Such complex passive safety systems (i.e. the Daimler PRE-SAFE Pulse or inflating metal structures in the vehicle doors) typically require lead times for activation/preparation that are longer than classical crash-detecting acceleration or pressure sensors can offer. These concepts require a close integration with active safety systems in order to allow an early assessment of the type, direction, and severity of an imminent collision. This contribution proposes a prototypical side collision detection system that is based on a monocular camera positioned in the side mirrors. For collision detection, the system fuses the detection results from optical flow and a warped bird's eye view in order to allow a robust system reaction in case of an imminent collision with a dynamic object.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132073427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940572
N. Hashimoto, Ü. Özgüner, N. Sawant
One of the best way to increase road capacity is to enable vehicles to travel in a convoy (or platoon) with short distance headways from preceding vehicles. The objective of this study is to present a control system which can optimally control a convoy of closely following vehicles for stop-and-go type of traffic. The convoy needs to be string stable and must have robust control to dampen any disturbance caused in any part of the convoy. We develop a Finite State Machine which acts as a supervisory controller to guide a following vehicle to merge behind and follow the vehicle ahead. After merging, the vehicle following controller is a linear-quadratic regulator (LQR) based sequential-state feedback controller proposed over thirty years ago. The performance is evaluated with a scenario based on a recent “Grand Cooperating Driving Challenge”.
{"title":"Evaluation of control in a convoy scenario","authors":"N. Hashimoto, Ü. Özgüner, N. Sawant","doi":"10.1109/IVS.2011.5940572","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940572","url":null,"abstract":"One of the best way to increase road capacity is to enable vehicles to travel in a convoy (or platoon) with short distance headways from preceding vehicles. The objective of this study is to present a control system which can optimally control a convoy of closely following vehicles for stop-and-go type of traffic. The convoy needs to be string stable and must have robust control to dampen any disturbance caused in any part of the convoy. We develop a Finite State Machine which acts as a supervisory controller to guide a following vehicle to merge behind and follow the vehicle ahead. After merging, the vehicle following controller is a linear-quadratic regulator (LQR) based sequential-state feedback controller proposed over thirty years ago. The performance is evaluated with a scenario based on a recent “Grand Cooperating Driving Challenge”.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134281295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940543
Long Chen, Qingquan Li, Ming Li, Qingzhou Mao
In this paper, we propose a computer vision based system for real-time robust traffic sign detection and recognition, especially developed for intelligent vehicle. In detection phase, a color-based segmentation method is used to scan the scene in order to quickly establish regions of interest (ROI). Sign candidates within ROIs are detected by a set of Haar wavelet features obtained from AdaBoost training. Then, the Speeded Up Robust Features (SURF) is applied for the sign recognition. SURF finds local invariant features in a candidate sign and matches these features to the features of template images that exist in data set. The recognition is performed by finding out the template image that gives the maximum number of matches. We have evaluated the proposed system on our intelligent vehicle SmartVII. A recognition accuracy of over 90% in real-time has been achieved.
{"title":"Traffic sign detection and recognition for intelligent vehicle","authors":"Long Chen, Qingquan Li, Ming Li, Qingzhou Mao","doi":"10.1109/IVS.2011.5940543","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940543","url":null,"abstract":"In this paper, we propose a computer vision based system for real-time robust traffic sign detection and recognition, especially developed for intelligent vehicle. In detection phase, a color-based segmentation method is used to scan the scene in order to quickly establish regions of interest (ROI). Sign candidates within ROIs are detected by a set of Haar wavelet features obtained from AdaBoost training. Then, the Speeded Up Robust Features (SURF) is applied for the sign recognition. SURF finds local invariant features in a candidate sign and matches these features to the features of template images that exist in data set. The recognition is performed by finding out the template image that gives the maximum number of matches. We have evaluated the proposed system on our intelligent vehicle SmartVII. A recognition accuracy of over 90% in real-time has been achieved.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131819363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940509
N. Maslekar, J. Mouzna, H. Labiod, Manoj Devisetty, M. Pai
Efficiency applications in VANETs are focused on increasing the productivity of the road resources by managing the traffic flow and monitoring the road conditions. The performance of most such applications is dependent on an effective density estimation of the vehicles in the surroundings. Of the various methods, clustering demonstrates to be an effective concept to implement this. However due to high mobility a stable cluster, within a vehicular framework, is difficult to implement. In this work, we propose a new clusterhead election policy for direction based clustering algorithm C-DRIVE. This policy facilitates to attain better stability and thus accurate density estimation within the clusters. Simulation results show that the C-DRIVE is rendered stability through new clusterhead election policy by electing fewer clusterheads in the network. This supports for a better accuracy in density estimation with fewer overheads.
{"title":"Modified C-DRIVE: Clustering based on direction in vehicular environment","authors":"N. Maslekar, J. Mouzna, H. Labiod, Manoj Devisetty, M. Pai","doi":"10.1109/IVS.2011.5940509","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940509","url":null,"abstract":"Efficiency applications in VANETs are focused on increasing the productivity of the road resources by managing the traffic flow and monitoring the road conditions. The performance of most such applications is dependent on an effective density estimation of the vehicles in the surroundings. Of the various methods, clustering demonstrates to be an effective concept to implement this. However due to high mobility a stable cluster, within a vehicular framework, is difficult to implement. In this work, we propose a new clusterhead election policy for direction based clustering algorithm C-DRIVE. This policy facilitates to attain better stability and thus accurate density estimation within the clusters. Simulation results show that the C-DRIVE is rendered stability through new clusterhead election policy by electing fewer clusterheads in the network. This supports for a better accuracy in density estimation with fewer overheads.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130945829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940562
Jesse Levinson, Jake Askeland, J. Becker, Jennifer Dolson, David Held, S. Kammel, J. Z. Kolter, D. Langer, O. Pink, V. Pratt, M. Sokolsky, Ganymed Stanek, David Stavens, Alex Teichman, M. Werling, S. Thrun
In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control. In addition, a robust vehicle platform with appropriate sensors, computational hardware, networking, and software infrastructure is essential.
{"title":"Towards fully autonomous driving: Systems and algorithms","authors":"Jesse Levinson, Jake Askeland, J. Becker, Jennifer Dolson, David Held, S. Kammel, J. Z. Kolter, D. Langer, O. Pink, V. Pratt, M. Sokolsky, Ganymed Stanek, David Stavens, Alex Teichman, M. Werling, S. Thrun","doi":"10.1109/IVS.2011.5940562","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940562","url":null,"abstract":"In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control. In addition, a robust vehicle platform with appropriate sensors, computational hardware, networking, and software infrastructure is essential.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133049696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940479
A. Rauch, F. Klanner, K. Dietmayer
In cooperative perception systems, different vehicles share object data obtained by their local environment perception sensors, like radar or lidar, via wireless communication. In this paper, a fusion architecture for a cooperative perception system and a concept for a parametrizable offline simulation are proposed. In order to effectively develop and simulate such systems, knowledge about the main parameters of the employed wireless communication solution is crucial. For this reason, an experimental analysis of parameters like transmission latencies and transmission range of a communication solution based on IEEE 802.11p is presented.
{"title":"Analysis of V2X communication parameters for the development of a fusion architecture for cooperative perception systems","authors":"A. Rauch, F. Klanner, K. Dietmayer","doi":"10.1109/IVS.2011.5940479","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940479","url":null,"abstract":"In cooperative perception systems, different vehicles share object data obtained by their local environment perception sensors, like radar or lidar, via wireless communication. In this paper, a fusion architecture for a cooperative perception system and a concept for a parametrizable offline simulation are proposed. In order to effectively develop and simulate such systems, knowledge about the main parameters of the employed wireless communication solution is crucial. For this reason, an experimental analysis of parameters like transmission latencies and transmission range of a communication solution based on IEEE 802.11p is presented.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133576077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940485
R. Belaroussi, Jean-Philippe Tarel, N. Hautière
We investigate the scenario of a vehicle equipped with a camera and a GPS driving on a road whose 3D map is known. We focus on the case of a road under fog or/and snow conditions. The GPS is used to estimate the vehicle pose and yaw and then the 3D road map is projected onto the camera image. The vehicle pitch and roll angles are then refined by fitting the projected road to detected road markings. Finally, we discuss the pros and cons of the obtained road registrations in the images and of the vehicle pitch-roll estimates, with respect to the vehicle dynamics and the driving environment, in adverse weather conditions.
{"title":"Vehicle attitude estimation in adverse weather conditions using a camera, a GPS and a 3D road map","authors":"R. Belaroussi, Jean-Philippe Tarel, N. Hautière","doi":"10.1109/IVS.2011.5940485","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940485","url":null,"abstract":"We investigate the scenario of a vehicle equipped with a camera and a GPS driving on a road whose 3D map is known. We focus on the case of a road under fog or/and snow conditions. The GPS is used to estimate the vehicle pose and yaw and then the 3D road map is projected onto the camera image. The vehicle pitch and roll angles are then refined by fitting the projected road to detected road markings. Finally, we discuss the pros and cons of the obtained road registrations in the images and of the vehicle pitch-roll estimates, with respect to the vehicle dynamics and the driving environment, in adverse weather conditions.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133706496","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940551
N. A. Oufroukh, André Benine-Neto, Z. Yacine, S. Mammar, S. Glaser
This paper firstly reviews of the analysis of the nonlinear behavior of the vehicle lateral dynamics. The (αf, αf) phase plane is used in order to quantify the stability region of the vehicle under different forward speed, steering angle and road adhesion. The tire-road interaction forces are modeled using Pacejka's magic formula. In a second step, the exact linear sectors procedure is used for representation of nonlinear functions in order to derive a Takagi-Sugeno (TS) fuzzy model. This model copes the behavior of the lateral tire forces including the linear, decreasing and saturated regions. Thereafter, a Takagi-Sugeno fuzzy output feedback is designed for yaw motion control. The controller acts through the steering of the front wheels and the differential braking torque generation. The computation of the controller is performed in such a way that the trajectories of the controlled vehicle remain inside an invariant set even when it is under disturbance input. This is achieved using quadratic boundedness theory and Lyapunov stability. Simulation tests show that the controlled car is able to satisfactorily perform standard maneuvers such as the ISO3888-2 transient maneuver and the roundabout maneuver.
{"title":"Invariant set based vehicle handling improvement at tire saturation using fuzzy output feedback","authors":"N. A. Oufroukh, André Benine-Neto, Z. Yacine, S. Mammar, S. Glaser","doi":"10.1109/IVS.2011.5940551","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940551","url":null,"abstract":"This paper firstly reviews of the analysis of the nonlinear behavior of the vehicle lateral dynamics. The (αf, αf) phase plane is used in order to quantify the stability region of the vehicle under different forward speed, steering angle and road adhesion. The tire-road interaction forces are modeled using Pacejka's magic formula. In a second step, the exact linear sectors procedure is used for representation of nonlinear functions in order to derive a Takagi-Sugeno (TS) fuzzy model. This model copes the behavior of the lateral tire forces including the linear, decreasing and saturated regions. Thereafter, a Takagi-Sugeno fuzzy output feedback is designed for yaw motion control. The controller acts through the steering of the front wheels and the differential braking torque generation. The computation of the controller is performed in such a way that the trajectories of the controlled vehicle remain inside an invariant set even when it is under disturbance input. This is achieved using quadratic boundedness theory and Lyapunov stability. Simulation tests show that the controlled car is able to satisfactorily perform standard maneuvers such as the ISO3888-2 transient maneuver and the roundabout maneuver.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114492699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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