Pub Date : 2011-06-05DOI: 10.1109/IVS.2011.5940459
G. Kaiser, F. Holzmann, B. Chretien, Matthias Korte, H. Werner
This paper concentrates on the torque commands for electric propulsion motors in a through the road hybrid electric vehicle. By using a linear quadratic gaussian controller, a flat feed forward controller and a linear desired value generator the lateral vehicle dynamics are influenced. Understeering, oversteering, agility and cornering speed can be optimized by proper controller design. A 14 degree of freedom vehicle model with a Dugoff tire model is used to simulate the vehicle behaviour. The simulation results show improved vehicle dynamics and increased handling for the driver compared to a equal distributed torque command.
{"title":"Torque Vectoring with a feedback and feed forward controller - applied to a through the road hybrid electric vehicle","authors":"G. Kaiser, F. Holzmann, B. Chretien, Matthias Korte, H. Werner","doi":"10.1109/IVS.2011.5940459","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940459","url":null,"abstract":"This paper concentrates on the torque commands for electric propulsion motors in a through the road hybrid electric vehicle. By using a linear quadratic gaussian controller, a flat feed forward controller and a linear desired value generator the lateral vehicle dynamics are influenced. Understeering, oversteering, agility and cornering speed can be optimized by proper controller design. A 14 degree of freedom vehicle model with a Dugoff tire model is used to simulate the vehicle behaviour. The simulation results show improved vehicle dynamics and increased handling for the driver compared to a equal distributed torque command.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"14 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":"120935443","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.2011.5940452
S. Lefèvre, C. Laugier, J. Guzman
Safety applications at road intersections require algorithms that can estimate the manoeuvre intention of all the drivers in the scene. In this paper, the use of contextual information extracted from a digital map of the road network is explored. We propose a Bayesian network which combines probabilistically uncertain observations on the vehicle's behaviour and information about the geometrical and topological characteristics of the road intersection in order to infer a driver's manoeuvre intention. The approach is evaluated on trajectories recorded from real traffic, including complex scenarios where the behaviour of the vehicle is inconsistent. We define an evaluation method that accounts for the impossibility to make reliable predictions in some situations, and show that the system is able to reliably combine vehicle state information and map information to infer a driver's intended manoeuvre.
{"title":"Exploiting map information for driver intention estimation at road intersections","authors":"S. Lefèvre, C. Laugier, J. Guzman","doi":"10.1109/IVS.2011.5940452","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940452","url":null,"abstract":"Safety applications at road intersections require algorithms that can estimate the manoeuvre intention of all the drivers in the scene. In this paper, the use of contextual information extracted from a digital map of the road network is explored. We propose a Bayesian network which combines probabilistically uncertain observations on the vehicle's behaviour and information about the geometrical and topological characteristics of the road intersection in order to infer a driver's manoeuvre intention. The approach is evaluated on trajectories recorded from real traffic, including complex scenarios where the behaviour of the vehicle is inconsistent. We define an evaluation method that accounts for the impossibility to make reliable predictions in some situations, and show that the system is able to reliably combine vehicle state information and map information to infer a driver's intended manoeuvre.","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":"116447970","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.2011.5940498
Philipp Steinemann, J. Klappstein, J. Dickmann, Hans-Joachim Wünsche, F. V. Hundelshausen
This paper presents a novel and robust method to determine the outline contour of vehicles in 3D-LIDAR (Light Detection and Ranging) measurements. To calculate the outline contour, a vehicle is described by its geometrical properties. These properties are used as constraints to fit a surface to unordered, scattered and error-contaminated 3D measurements. The surface can be used to calculate a corresponding 2D outline contour. The algorithm is tested with two different laser scanners. One scanner has 64, the other only 4 layers.
{"title":"Determining the outline contour of vehicles in 3D-LIDAR-measurements","authors":"Philipp Steinemann, J. Klappstein, J. Dickmann, Hans-Joachim Wünsche, F. V. Hundelshausen","doi":"10.1109/IVS.2011.5940498","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940498","url":null,"abstract":"This paper presents a novel and robust method to determine the outline contour of vehicles in 3D-LIDAR (Light Detection and Ranging) measurements. To calculate the outline contour, a vehicle is described by its geometrical properties. These properties are used as constraints to fit a surface to unordered, scattered and error-contaminated 3D measurements. The surface can be used to calculate a corresponding 2D outline contour. The algorithm is tested with two different laser scanners. One scanner has 64, the other only 4 layers.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"164 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":"126648821","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.2011.5940489
C. Frese, J. Beyerer
Automated cooperative collision avoidance of multiple vehicles is a promising approach to increase road safety in the future. This approach requires a real-time motion planner which computes cooperative maneuvers of multiple cognitive vehicles. As motion planning is a task of high computational complexity, computing times of the planner have to be traded off against solution quality. This contribution compares several cooperative motion planning algorithms with respect to these criteria. The considered algorithms are a tree search algorithm relying on precomputed lower bounds, the elastic band method, mixed-integer linear programming, and a priority-based approach. Success rates and computing times on various simulated scenarios are reported.
{"title":"A comparison of motion planning algorithms for cooperative collision avoidance of multiple cognitive automobiles","authors":"C. Frese, J. Beyerer","doi":"10.1109/IVS.2011.5940489","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940489","url":null,"abstract":"Automated cooperative collision avoidance of multiple vehicles is a promising approach to increase road safety in the future. This approach requires a real-time motion planner which computes cooperative maneuvers of multiple cognitive vehicles. As motion planning is a task of high computational complexity, computing times of the planner have to be traded off against solution quality. This contribution compares several cooperative motion planning algorithms with respect to these criteria. The considered algorithms are a tree search algorithm relying on precomputed lower bounds, the elastic band method, mixed-integer linear programming, and a priority-based approach. Success rates and computing times on various simulated scenarios are reported.","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":"125998285","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.2011.5940567
M. Nentwig, M. Stamminger
In this research paper we investigate the applicability of real-time generated computer graphics for mono camera lane and vehicle detection algorithms. First we introduce a developed hardware-in-the-loop simulator and describe two solutions for the input of the synthetic images. Then the creation of the camera and environment model used for the tests is focused. Therefore first requirements hold by the lane and vehicle detection algorithms are mentioned and different fields of application are described. Finally we demonstrate the applicability on three scenarios derived from real test drives and compare the results to reality.
{"title":"Hardware-in-the-loop testing of computer vision based driver assistance systems","authors":"M. Nentwig, M. Stamminger","doi":"10.1109/IVS.2011.5940567","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940567","url":null,"abstract":"In this research paper we investigate the applicability of real-time generated computer graphics for mono camera lane and vehicle detection algorithms. First we introduce a developed hardware-in-the-loop simulator and describe two solutions for the input of the synthetic images. Then the creation of the camera and environment model used for the tests is focused. Therefore first requirements hold by the lane and vehicle detection algorithms are mentioned and different fields of application are described. Finally we demonstrate the applicability on three scenarios derived from real test drives and compare the results to reality.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"69 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":"127763255","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.2011.5940447
Jan Siegemund, Uwe Franke, W. Förstner
A temporal filter approach for real-time detection and reconstruction of curbs and road surfaces from 3D point clouds is presented. Instead of local thresholding, as used in many other approaches, a 3D curb model is extracted from the point cloud. The 3D points are classified to different parts of the model (i.e. road and sidewalk) using a temporally integrated Conditional Random Field (CRF). The parameters of curb and road surface are then estimated from the respectively assigned points, providing a temporal connection via a Kalman filter.
{"title":"A temporal filter approach for detection and reconstruction of curbs and road surfaces based on Conditional Random Fields","authors":"Jan Siegemund, Uwe Franke, W. Förstner","doi":"10.1109/IVS.2011.5940447","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940447","url":null,"abstract":"A temporal filter approach for real-time detection and reconstruction of curbs and road surfaces from 3D point clouds is presented. Instead of local thresholding, as used in many other approaches, a 3D curb model is extracted from the point cloud. The 3D points are classified to different parts of the model (i.e. road and sidewalk) using a temporally integrated Conditional Random Field (CRF). The parameters of curb and road surface are then estimated from the respectively assigned points, providing a temporal connection via a Kalman filter.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"9 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":"123032235","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.2011.5940438
A. Yasar, Koosha Paridel, D. Preuveneers, Y. Berbers
In the near future vehicles will be equipped with embedded communication capabilities in order to perform context-sensitive tasks such as traffic flow control and incident avoidance. In large scale vehicular networks it is of vital importance that the information exchanged between the vehicles meets a certain level of quality so that they can make informed automated decisions. In this paper we define Quality of Context (QoC) and Peer Reputation (PR) for nodes in vehicular networks and propose ways to apply them for efficient communication. Thus, we provide a two-fold solution in which on the one hand we focus on the quality of the information and on the other hand we aim at determining the reputation of the nodes involved in the communication. This helps to eliminate the use of erroneous, ambiguous and imprecise information provided by unknown entities. Our simulated experiments show that our mechanism significantly reduces network traffic usage, eases out the decision making process and guarantees a minimum level of quality.
在不久的将来，车辆将配备嵌入式通信功能，以执行对环境敏感的任务，如交通流量控制和事故避免。在大规模的车辆网络中，车辆之间交换的信息达到一定的质量水平是至关重要的，这样它们才能做出明智的自动决策。本文定义了车辆网络中节点的上下文质量(Quality of Context, QoC)和对等信誉(Peer Reputation, PR)，并提出了应用它们进行高效通信的方法。因此，我们提供了一个双重解决方案，一方面我们关注信息的质量，另一方面我们的目标是确定参与通信的节点的声誉。这有助于消除使用由未知实体提供的错误、模糊和不精确的信息。我们的模拟实验表明，我们的机制显著降低了网络流量的使用，简化了决策过程，并保证了最低的质量水平。
{"title":"When efficiency matters: Towards quality of context-aware peers for adaptive communication in VANETs","authors":"A. Yasar, Koosha Paridel, D. Preuveneers, Y. Berbers","doi":"10.1109/IVS.2011.5940438","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940438","url":null,"abstract":"In the near future vehicles will be equipped with embedded communication capabilities in order to perform context-sensitive tasks such as traffic flow control and incident avoidance. In large scale vehicular networks it is of vital importance that the information exchanged between the vehicles meets a certain level of quality so that they can make informed automated decisions. In this paper we define Quality of Context (QoC) and Peer Reputation (PR) for nodes in vehicular networks and propose ways to apply them for efficient communication. Thus, we provide a two-fold solution in which on the one hand we focus on the quality of the information and on the other hand we aim at determining the reputation of the nodes involved in the communication. This helps to eliminate the use of erroneous, ambiguous and imprecise information provided by unknown entities. Our simulated experiments show that our mechanism significantly reduces network traffic usage, eases out the decision making process and guarantees a minimum level of quality.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"69 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":"127664479","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.2011.5940421
C. Otto, F. P. León, A. Schwarzhaupt
Current developments of advanced driver assistance systems (ADAS) are concerned increasingly about the protection of vulnerable road users. This paper suggests an approach for the required, complex situation evaluation that decides if a detected pedestrian is relevant for the application. In order to account for the uncertainty in the behavior of the road users and the measurement uncertainties, their positions are derived probabilistically using a combination of Monte Carlo simulation, stochastic reachable sets and Markov chain abstraction. Prototype paths are assigned to the ego vehicle and the pedestrian movement with probabilities defined from previous measurement cycles. An efficient online algorithm computes the partial, conditioned collision probability of the ego vehicle with a pedestrian by intersecting their stochastic reachable sets and considering the path probabilities.
{"title":"A strategy on situation evaluation for driver assistance systems in commercial vehicles considering pedestrians in urban traffic","authors":"C. Otto, F. P. León, A. Schwarzhaupt","doi":"10.1109/IVS.2011.5940421","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940421","url":null,"abstract":"Current developments of advanced driver assistance systems (ADAS) are concerned increasingly about the protection of vulnerable road users. This paper suggests an approach for the required, complex situation evaluation that decides if a detected pedestrian is relevant for the application. In order to account for the uncertainty in the behavior of the road users and the measurement uncertainties, their positions are derived probabilistically using a combination of Monte Carlo simulation, stochastic reachable sets and Markov chain abstraction. Prototype paths are assigned to the ego vehicle and the pedestrian movement with probabilities defined from previous measurement cycles. An efficient online algorithm computes the partial, conditioned collision probability of the ego vehicle with a pedestrian by intersecting their stochastic reachable sets and considering the path probabilities.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"61 5 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":"128013213","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.2011.5940487
M. Slot, V. Cahill
Vehicular networks enable the development of driver assistance and automated driving applications that need to coordinate the behaviour of multiple vehicles. Safe coordination requires a level of communication reliability, determinism and timeliness that current systems do not offer. In particular, the challenge of reliably establishing membership in vehicular group communication systems has only partly been addressed. In this context, a group is often defined as the set of vehicles that are present in a given area. Existing membership protocols allow false negatives to occur - vehicles that are in the area may not be seen as members. Applications that use these protocols may critically be unaware of some nearby vehicles. We introduce a novel membership protocol that eliminates false negatives by integrating communication as a reliable means of detecting the physical presence of a vehicle, with (distance) sensing as a reliable means of detecting the absence of other vehicles. We compare an implementation of the membership protocol against a more traditional protocol in terms of error rate and overhead. We show our protocol delivers stronger guarantees with lower overhead, at the cost of requiring more sophisticated sensors.
{"title":"A reliable membership service for vehicular safety applications","authors":"M. Slot, V. Cahill","doi":"10.1109/IVS.2011.5940487","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940487","url":null,"abstract":"Vehicular networks enable the development of driver assistance and automated driving applications that need to coordinate the behaviour of multiple vehicles. Safe coordination requires a level of communication reliability, determinism and timeliness that current systems do not offer. In particular, the challenge of reliably establishing membership in vehicular group communication systems has only partly been addressed. In this context, a group is often defined as the set of vehicles that are present in a given area. Existing membership protocols allow false negatives to occur - vehicles that are in the area may not be seen as members. Applications that use these protocols may critically be unaware of some nearby vehicles. We introduce a novel membership protocol that eliminates false negatives by integrating communication as a reliable means of detecting the physical presence of a vehicle, with (distance) sensing as a reliable means of detecting the absence of other vehicles. We compare an implementation of the membership protocol against a more traditional protocol in terms of error rate and overhead. We show our protocol delivers stronger guarantees with lower overhead, at the cost of requiring more sophisticated sensors.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"33 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":"121184586","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.2011.5940554
Fredrik Sandblom, M. Brännström
This paper presents a probabilistic framework for decision-making in collision avoidance systems, targeting all types of collision scenarios with all types of single road users and objects. Decisions on when and how to assist the driver are made by taking a Bayesian approach to estimate how a collision can be avoided by an autonomous brake intervention, and the probability that the driver will consider the intervention as motivated. The driver model makes it possible to initiate earlier braking when it is estimated that the driver acceptance for interventions is high. The framework and the proposed driver model are evaluated in several scenarios, using authentic tracker data and a differential GPS. It is shown that the driver model can increase the benefit of collision avoidance systems — particularly in traffic situations where the future trajectory of another road user is hard for the driver to predict, e.g. when a playing child enters the roadway.
{"title":"Probabilistic threat assessment and driver modeling in collision avoidance systems","authors":"Fredrik Sandblom, M. Brännström","doi":"10.1109/IVS.2011.5940554","DOIUrl":"https://doi.org/10.1109/IVS.2011.5940554","url":null,"abstract":"This paper presents a probabilistic framework for decision-making in collision avoidance systems, targeting all types of collision scenarios with all types of single road users and objects. Decisions on when and how to assist the driver are made by taking a Bayesian approach to estimate how a collision can be avoided by an autonomous brake intervention, and the probability that the driver will consider the intervention as motivated. The driver model makes it possible to initiate earlier braking when it is estimated that the driver acceptance for interventions is high. The framework and the proposed driver model are evaluated in several scenarios, using authentic tracker data and a differential GPS. It is shown that the driver model can increase the benefit of collision avoidance systems — particularly in traffic situations where the future trajectory of another road user is hard for the driver to predict, e.g. when a playing child enters the roadway.","PeriodicalId":117811,"journal":{"name":"2011 IEEE Intelligent Vehicles Symposium (IV)","volume":"45 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":"121429536","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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