Pub Date : 2007-12-01DOI: 10.1109/ICVES.2007.4456379
Meng Wu, X. An
This paper proposes a novel self-calibration method for getting the extrinsic parameters of the camera on the autonomous vehicle. Basing on the model of the highway and the extrinsic parameters of the camera, the lane marking can be described parametrically in the vehicle coordinate system. The position and headings of the vehicle can be measured by itself in real time. Thus the Extended Kalman Filter can be applied to the kinematical model of the vehicle. By this means, it is possible to refine the original rough extrinsic parameters of the camera with an iterative way. Experiment results show that this method has a good performance in the structural scenery on highway.
{"title":"An automatic extrinsic parameter calibration method for camera-on-vehicle on structured road","authors":"Meng Wu, X. An","doi":"10.1109/ICVES.2007.4456379","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456379","url":null,"abstract":"This paper proposes a novel self-calibration method for getting the extrinsic parameters of the camera on the autonomous vehicle. Basing on the model of the highway and the extrinsic parameters of the camera, the lane marking can be described parametrically in the vehicle coordinate system. The position and headings of the vehicle can be measured by itself in real time. Thus the Extended Kalman Filter can be applied to the kinematical model of the vehicle. By this means, it is possible to refine the original rough extrinsic parameters of the camera with an iterative way. Experiment results show that this method has a good performance in the structural scenery on highway.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127032116","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456384
Kang Peifeng, Huang Kang, Yang Yang, Zhong Yanjiong, W. Lili
This paper gives a new method in implement perception unit combining both micro and macro environment. The detailed micro information of user data is organized in triangular and the octree mechanism makes queries more effective. The macro environment was provided to vehicle, by traffic logic maps. This paper focuses on how to use the steering behaviors model in implementing traffic behaviors, such as accident avoiding, road following and lane changing, in order to make autonomous vehicle more intelligent.
{"title":"Modeling and implementation on the behavior of autonomous vehicle in the virtual traffic environment","authors":"Kang Peifeng, Huang Kang, Yang Yang, Zhong Yanjiong, W. Lili","doi":"10.1109/ICVES.2007.4456384","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456384","url":null,"abstract":"This paper gives a new method in implement perception unit combining both micro and macro environment. The detailed micro information of user data is organized in triangular and the octree mechanism makes queries more effective. The macro environment was provided to vehicle, by traffic logic maps. This paper focuses on how to use the steering behaviors model in implementing traffic behaviors, such as accident avoiding, road following and lane changing, in order to make autonomous vehicle more intelligent.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116317519","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456357
S. Kantawong
This paper presents the road traffic signs detection and classification methods in vision-based robot guidance system that are applied for small navigation vehicle control system which can have two main roles that first for traffic signs detection and next for signs classification. Traffic signs recognition is a less studied field even though it provided road users with very valuable information about the road profiles in order to make running safer and easier. The algorithm are described in this paper take an advantage of sign features that their color and shapes are very different from natural environments. The systems are divided into three parts, first for detected and improved the quality of raw sign image. Second part for shape analysis with a continuous thinning algorithm and image encoding method, finally for the image recognition and decision by Fuzzy-Neural technique based on Back propagation Neural Network (BNN) model to display the right task. Some results from room experimental are shown here that show the system performance can work well but in real environmental scenes are valid to detect other kinds of signs that would train the mobile robot to perform some task at that place.
{"title":"Road traffic signs guidance analysis for small navigation vehicle control system","authors":"S. Kantawong","doi":"10.1109/ICVES.2007.4456357","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456357","url":null,"abstract":"This paper presents the road traffic signs detection and classification methods in vision-based robot guidance system that are applied for small navigation vehicle control system which can have two main roles that first for traffic signs detection and next for signs classification. Traffic signs recognition is a less studied field even though it provided road users with very valuable information about the road profiles in order to make running safer and easier. The algorithm are described in this paper take an advantage of sign features that their color and shapes are very different from natural environments. The systems are divided into three parts, first for detected and improved the quality of raw sign image. Second part for shape analysis with a continuous thinning algorithm and image encoding method, finally for the image recognition and decision by Fuzzy-Neural technique based on Back propagation Neural Network (BNN) model to display the right task. Some results from room experimental are shown here that show the system performance can work well but in real environmental scenes are valid to detect other kinds of signs that would train the mobile robot to perform some task at that place.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129476725","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456378
Yuan Cao, R. Niu, Tianhua Xu, T. Tang, Jian-cheng Mu
At present, Communication Based Train Control (CBTC) system has being researched and developed, and it is going to be the direction of development of train control system. The wireless communications system has become one of the essential subsystems of CBTC. In view of urban mass transit, this paper proposes a test platform about Wireless Local Area Network (WLAN) which has been widely applied in CBTC, and emphatically introduces two key tests: one is the AP coverage test and the other one is the SA handover test, then gives corresponding test data and results analysis. The results prove that test scheme provides the important evidences to optimize AP's arrangement along the track, realizes the uninterrupted communication between train and trackside, and ensures the safety of train operation in CBTC.
{"title":"Wireless test platform of Communication Based Train Control (CBTC) system in urban mass transit","authors":"Yuan Cao, R. Niu, Tianhua Xu, T. Tang, Jian-cheng Mu","doi":"10.1109/ICVES.2007.4456378","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456378","url":null,"abstract":"At present, Communication Based Train Control (CBTC) system has being researched and developed, and it is going to be the direction of development of train control system. The wireless communications system has become one of the essential subsystems of CBTC. In view of urban mass transit, this paper proposes a test platform about Wireless Local Area Network (WLAN) which has been widely applied in CBTC, and emphatically introduces two key tests: one is the AP coverage test and the other one is the SA handover test, then gives corresponding test data and results analysis. The results prove that test scheme provides the important evidences to optimize AP's arrangement along the track, realizes the uninterrupted communication between train and trackside, and ensures the safety of train operation in CBTC.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128181817","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456375
Jianmin Sun, Qingmei Yang
According to the model of vehicle suspension, a novel fuzzy control method based on adaptive technology' is applied to active control of automotive suspension system. An analytic fuzzy control algorithm is advanced in order to improve the riding comfort and handling safety of automotive. Because the algorithm can adjust the rectification factor of fuzzy controller, it not only can reflect the advantage of fuzzy logic in nonlinearity system but also can improve the disadvantage of common fuzzy control method strongly depending on the experience. For the sprung mass acceleration, the dynamic tyre load and the dynamic deflection of suspension system, the simulation results show that the analytic fuzzy control strategy has obvious effect on the vibration control of automotive suspension system.
{"title":"Automotive suspension system with an analytic fuzzy control strategy","authors":"Jianmin Sun, Qingmei Yang","doi":"10.1109/ICVES.2007.4456375","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456375","url":null,"abstract":"According to the model of vehicle suspension, a novel fuzzy control method based on adaptive technology' is applied to active control of automotive suspension system. An analytic fuzzy control algorithm is advanced in order to improve the riding comfort and handling safety of automotive. Because the algorithm can adjust the rectification factor of fuzzy controller, it not only can reflect the advantage of fuzzy logic in nonlinearity system but also can improve the disadvantage of common fuzzy control method strongly depending on the experience. For the sprung mass acceleration, the dynamic tyre load and the dynamic deflection of suspension system, the simulation results show that the analytic fuzzy control strategy has obvious effect on the vibration control of automotive suspension system.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123884433","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456398
B. Chang, W. Sung, Jang-Gyu Lee, Kangyoon Lee, S. Sung
In this paper, a mode matching control loop is suggested for the matching of the resonant frequency of the sensing mode with that of the driving mode. Matching of two modes is critical issue of the MEMS vibratory gyroscope to achieve the high sensitivity of the sensor. A new mode matching control loop using the concept of phase locked loop (PLL) is proposed and analyzed. Through the computer simulation using MATLAB and experiments using a real MEMS gyroscope, it is verified that the proposed control loop design matches those two modes and correspondingly improves the sensitivity of a gyroscope.
{"title":"Automatic mode matching control loop design and its application to the mode matched MEMS gyroscope","authors":"B. Chang, W. Sung, Jang-Gyu Lee, Kangyoon Lee, S. Sung","doi":"10.1109/ICVES.2007.4456398","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456398","url":null,"abstract":"In this paper, a mode matching control loop is suggested for the matching of the resonant frequency of the sensing mode with that of the driving mode. Matching of two modes is critical issue of the MEMS vibratory gyroscope to achieve the high sensitivity of the sensor. A new mode matching control loop using the concept of phase locked loop (PLL) is proposed and analyzed. Through the computer simulation using MATLAB and experiments using a real MEMS gyroscope, it is verified that the proposed control loop design matches those two modes and correspondingly improves the sensitivity of a gyroscope.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131511072","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456392
Bin Li, Daofei Li, F. Yu
The yaw stability of a vehicle is crucial to vehicle safety in steering manoeuvres. In this paper, a fuzzy-logic controller is designed for improving vehicle yaw stability by corrective yaw moment generated from differential braking so that the yaw rate and body sideslip angle can trace their desired values. An 8-DOF vehicle model with nonlinear tire characteristic is developed to capture the vehicle longitudinal, lateral, yaw and roll motion, and four wheel rotation motion. The body sideslip angle is estimated by a 3-DOF vehicle model. Simulations of J-turn and lane change are carried out and the simulation results show the effectiveness of the fuzzy-logic controller for improving vehicle yaw stability.
{"title":"Vehicle yaw stability control using the fuzzy-logic controller","authors":"Bin Li, Daofei Li, F. Yu","doi":"10.1109/ICVES.2007.4456392","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456392","url":null,"abstract":"The yaw stability of a vehicle is crucial to vehicle safety in steering manoeuvres. In this paper, a fuzzy-logic controller is designed for improving vehicle yaw stability by corrective yaw moment generated from differential braking so that the yaw rate and body sideslip angle can trace their desired values. An 8-DOF vehicle model with nonlinear tire characteristic is developed to capture the vehicle longitudinal, lateral, yaw and roll motion, and four wheel rotation motion. The body sideslip angle is estimated by a 3-DOF vehicle model. Simulations of J-turn and lane change are carried out and the simulation results show the effectiveness of the fuzzy-logic controller for improving vehicle yaw stability.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122652192","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456382
Z. Dai, S. Knedlik, P. Ubolkosold, Junchuan Zhou, O. Loffeld
The performance of the GPS based vehicle navigation will be degraded in the attenuated signal environments and reflected conditions. In this paper two types of sensor fusions are proposed to improve the reliability of GPS navigation in such environments: (1) the integration of GPS with other GNSS, including GLONASS and GALILEO, and (2) the integration of GPS with low-cost INS. Numerical results demonstrate that both methods will significantly improve the robustness and accuracy when the number of tracked GPS satellite is insufficient to generate reliable results.
{"title":"Integrated GPS navigation for civilian vehicles in challenging environment","authors":"Z. Dai, S. Knedlik, P. Ubolkosold, Junchuan Zhou, O. Loffeld","doi":"10.1109/ICVES.2007.4456382","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456382","url":null,"abstract":"The performance of the GPS based vehicle navigation will be degraded in the attenuated signal environments and reflected conditions. In this paper two types of sensor fusions are proposed to improve the reliability of GPS navigation in such environments: (1) the integration of GPS with other GNSS, including GLONASS and GALILEO, and (2) the integration of GPS with low-cost INS. Numerical results demonstrate that both methods will significantly improve the robustness and accuracy when the number of tracked GPS satellite is insufficient to generate reliable results.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121246040","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456391
Mingwang Mao, Liping Du
Driver fatigue is an important factor causing serious traffic accidents and often results in many people deaths or injuries. Therefore, many countries have made great effort on how to detect driver fatigue. This paper presents a new approach to detect driver fatigue based on discrete wavelet transform which has been used to extract the key features for constructing the classifier to identify driver fatigue. . The analyzed data are obtained from experiments using driving simulator. The result proves the algorithm is valid.
{"title":"Research on drive fatigue detection using wavelet transform","authors":"Mingwang Mao, Liping Du","doi":"10.1109/ICVES.2007.4456391","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456391","url":null,"abstract":"Driver fatigue is an important factor causing serious traffic accidents and often results in many people deaths or injuries. Therefore, many countries have made great effort on how to detect driver fatigue. This paper presents a new approach to detect driver fatigue based on discrete wavelet transform which has been used to extract the key features for constructing the classifier to identify driver fatigue. . The analyzed data are obtained from experiments using driving simulator. The result proves the algorithm is valid.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132409302","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 : 2007-12-01DOI: 10.1109/ICVES.2007.4456394
S. Sung, B. Chang, Kangyoon Lee, Young Jae Lee
In this paper, we present a novel approach for self-sustained resonant accelerometer design, which takes advantages of an automatic gain control to implement a uniform oscillation dynamics. For the system modeling and loop transformation, an envelope based state space approach is taken. The paper also presents the application of the designed accelerometer for an integrated gyroscope and accelerometer system with an orthogonal input axis to each other. The integrated system uses of a single micromachined mechanical structure as moving mass and the associated vibration control loops for each sensing axis, respectively.
{"title":"A vibration-controlled resonant accelerometer design and its application to the single structured gyroscope/accelerometer system","authors":"S. Sung, B. Chang, Kangyoon Lee, Young Jae Lee","doi":"10.1109/ICVES.2007.4456394","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456394","url":null,"abstract":"In this paper, we present a novel approach for self-sustained resonant accelerometer design, which takes advantages of an automatic gain control to implement a uniform oscillation dynamics. For the system modeling and loop transformation, an envelope based state space approach is taken. The paper also presents the application of the designed accelerometer for an integrated gyroscope and accelerometer system with an orthogonal input axis to each other. The integrated system uses of a single micromachined mechanical structure as moving mass and the associated vibration control loops for each sensing axis, respectively.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"1 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116923647","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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