Pub Date : 2007-12-01DOI: 10.1109/ICVES.2007.4456406
Wu Meng, S. Fengchun, N. Jinrui, Wang Dafang
This paper researches how physical layer influences the signal reflection of the CAN bus is carried on in both theory and experimental ways. In order to analyze the problems in engineering applies of CAN network, and to bring forward the methods to solve them. In this way, reference can be provided for the design of the communication based on CAN bus in the future.
{"title":"Research on reflection of CAN signal in transmission line","authors":"Wu Meng, S. Fengchun, N. Jinrui, Wang Dafang","doi":"10.1109/ICVES.2007.4456406","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456406","url":null,"abstract":"This paper researches how physical layer influences the signal reflection of the CAN bus is carried on in both theory and experimental ways. In order to analyze the problems in engineering applies of CAN network, and to bring forward the methods to solve them. In this way, reference can be provided for the design of the communication based on CAN bus in the future.","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":"131174678","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.2007.4456402
Zhang Tao, Yang Diange, Li Ting, Lian Xiaomin
Model of intersection, as a part of road network model, which is the basis of In-Vehicle Navigation System, provides an abstract description of urban traffic intersection. This paper proposes a Multi-branch model, which abstracts branch based on physical structure of intersection for describing structural features of different types of intersections. And on this basis it describes accurate navigation attributes for vehicle navigation. Experiment shows that the model can be conveniently applied to ln-Vehicle Navigation System, with accurate and abundant driving information. The model is proved practical for In-Vehicle Navigation System.
{"title":"Multi-branch model of intersection for vehicle navigation","authors":"Zhang Tao, Yang Diange, Li Ting, Lian Xiaomin","doi":"10.1109/ICVES.2007.4456402","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456402","url":null,"abstract":"Model of intersection, as a part of road network model, which is the basis of In-Vehicle Navigation System, provides an abstract description of urban traffic intersection. This paper proposes a Multi-branch model, which abstracts branch based on physical structure of intersection for describing structural features of different types of intersections. And on this basis it describes accurate navigation attributes for vehicle navigation. Experiment shows that the model can be conveniently applied to ln-Vehicle Navigation System, with accurate and abundant driving information. The model is proved practical for In-Vehicle Navigation System.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"22 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":"127006097","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.2007.4456396
Li Da-xue, Wu Tao, Dai Bin
It is necessary to extend the intelligent vehicle to navigate from structured environment to rough terrain, which is a great challenge for environment modeling. Ladar and camera are the most widely used sensors, but each of them has shortcoming. In this paper, SVM method is used to fuse the information from ladar and color camera. After registration, ladar point is represented by its position and neighbored pixels in the image. The height of the object as well as the H and S components of the color of the pixels are selected to represent the terrain. Grass and non-grass terrain are recognized based on the features. Experiment shows this method is simple and efficiency.
{"title":"Fusing ladar and color image for detection grass off-road scenario","authors":"Li Da-xue, Wu Tao, Dai Bin","doi":"10.1109/ICVES.2007.4456396","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456396","url":null,"abstract":"It is necessary to extend the intelligent vehicle to navigate from structured environment to rough terrain, which is a great challenge for environment modeling. Ladar and camera are the most widely used sensors, but each of them has shortcoming. In this paper, SVM method is used to fuse the information from ladar and color camera. After registration, ladar point is represented by its position and neighbored pixels in the image. The height of the object as well as the H and S components of the color of the pixels are selected to represent the terrain. Grass and non-grass terrain are recognized based on the features. Experiment shows this method is simple and efficiency.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"4 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":"124360264","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.2007.4456360
Kunfeng Wang, Zhenjiang Li, Qingming Yao, Wuling Huang, Fei-Yue Wang
The objective of this paper is to present a detailed description of using DSP board and image processing techniques to construct an automated vehicle counting system. Such a system has many potential applications, such as traffic signal control and district traffic abduction. We use TITMS320DM642 DSP as the computational unit to avoid heavy investment in industrial control computer while obtaining improved computational power and optimized system structure. The overall software is comprised of two parts: embedded DSP software and host PC software. The embedded DSP software acquires the video image from stationary cameras, detects and counts moving vehicles, and transmits the processing results and realtime images after compression to PC software through network. The host PC software works as a graphic user interface through which the end user can configure the DSP board parameters and access the video processing results. The vehicle detection and counting algorithm is carefully devised to keep robust and efficient in traffic scenes for longtime span and with changeful illumination. Experimental results show that the proposed system performs well in actual traffic scenes, and the processing speed and accuracy of the system can meet the requirement of practical applications.
{"title":"An automated vehicle counting system for traffic surveillance","authors":"Kunfeng Wang, Zhenjiang Li, Qingming Yao, Wuling Huang, Fei-Yue Wang","doi":"10.1109/ICVES.2007.4456360","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456360","url":null,"abstract":"The objective of this paper is to present a detailed description of using DSP board and image processing techniques to construct an automated vehicle counting system. Such a system has many potential applications, such as traffic signal control and district traffic abduction. We use TITMS320DM642 DSP as the computational unit to avoid heavy investment in industrial control computer while obtaining improved computational power and optimized system structure. The overall software is comprised of two parts: embedded DSP software and host PC software. The embedded DSP software acquires the video image from stationary cameras, detects and counts moving vehicles, and transmits the processing results and realtime images after compression to PC software through network. The host PC software works as a graphic user interface through which the end user can configure the DSP board parameters and access the video processing results. The vehicle detection and counting algorithm is carefully devised to keep robust and efficient in traffic scenes for longtime span and with changeful illumination. Experimental results show that the proposed system performs well in actual traffic scenes, and the processing speed and accuracy of the system can meet the requirement of practical applications.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"134 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":"128555838","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.2007.4456355
Jungsook Kim, Jaehan Lim, B. Jang
The demand for the safety is increased in the telematics area. The main reason for the car accident is driver's delay in recognition and error in operation and judgment about danger. About 45 % car crash comes from delayed recognition and 28 % comes from error in operation and judgment. In order to solve the safety problem, we propose the wireless sensor system which can reduce the danger by warning invisible and unexpected risk in advance. In the consideration of environment which our system is deployed, our wireless sensor system for safety is composed of wireless sensor node sensing car existence with magnetic sensors, wireless relay node relaying the sensed data to the main server, and base station which is main server gathering all sensed data from sensor node and generating alarm messages. It is expected that our system successfully reduce car accident with wireless sensor network technology.
{"title":"Algorithm and system for traffic safety on the intersection","authors":"Jungsook Kim, Jaehan Lim, B. Jang","doi":"10.1109/ICVES.2007.4456355","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456355","url":null,"abstract":"The demand for the safety is increased in the telematics area. The main reason for the car accident is driver's delay in recognition and error in operation and judgment about danger. About 45 % car crash comes from delayed recognition and 28 % comes from error in operation and judgment. In order to solve the safety problem, we propose the wireless sensor system which can reduce the danger by warning invisible and unexpected risk in advance. In the consideration of environment which our system is deployed, our wireless sensor system for safety is composed of wireless sensor node sensing car existence with magnetic sensors, wireless relay node relaying the sensed data to the main server, and base station which is main server gathering all sensed data from sensor node and generating alarm messages. It is expected that our system successfully reduce car accident with wireless sensor network technology.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"4 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":"124558056","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.2007.4456373
B. Liu, Fei-Yue Wang, J. Geng, Qingming Yao, Hui Gao, Buqing Zhang
This paper presents a brief review of state-of-the- art research in the field of intelligent spaces. With the increased availability of smart sensors and context-aware appliances that are equipped with embedded computing and communication capability, the intelligent space concept have found widespread applications. First, we introduce the concept, and applications of intelligent spaces. Then we explore research issues on the implementation and design of intelligent spaces, including hardware, networking, system architecture, information understanding and inference, decision making and acting from a system-level perspective. Finally, we present a case study on the intelligent transportation spaces in details.
{"title":"Intelligent spaces: An overview","authors":"B. Liu, Fei-Yue Wang, J. Geng, Qingming Yao, Hui Gao, Buqing Zhang","doi":"10.1109/ICVES.2007.4456373","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456373","url":null,"abstract":"This paper presents a brief review of state-of-the- art research in the field of intelligent spaces. With the increased availability of smart sensors and context-aware appliances that are equipped with embedded computing and communication capability, the intelligent space concept have found widespread applications. First, we introduce the concept, and applications of intelligent spaces. Then we explore research issues on the implementation and design of intelligent spaces, including hardware, networking, system architecture, information understanding and inference, decision making and acting from a system-level perspective. Finally, we present a case study on the intelligent transportation spaces in details.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"41 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":"122092504","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.2007.4456409
Xun Dai, A. Kummert, S. B. Park, U. Iurgel
Automotive radar application is a focus in active traffic safety research activities. And an accurate lateral position estimation from the leading target vehicle through radar is of great interest. This paper presents a method based on the regression tree, which estimates the rear centroid of leading target vehicle with a long range FLR (Forward Looking Radar) of limited resolution with multiple radar detections distributed on the target vehicle. Hours of radar log data together with reference value of leading vehicle's lateral offset are utilized both as training data and test data as well. A ten-fold cross validation is applied to evaluate the performance of the generated regression trees together with fused decision forest for each percentage of the training data. As a result, compared with the current approach which calculates the mean of lateral offset, the regression tree and decision forest approach yield more accurate position estimation of the lateral offset from a single leading target vehicle with radar multiple detections.
{"title":"Vehicle centroid estimation based on radar multiple detections","authors":"Xun Dai, A. Kummert, S. B. Park, U. Iurgel","doi":"10.1109/ICVES.2007.4456409","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456409","url":null,"abstract":"Automotive radar application is a focus in active traffic safety research activities. And an accurate lateral position estimation from the leading target vehicle through radar is of great interest. This paper presents a method based on the regression tree, which estimates the rear centroid of leading target vehicle with a long range FLR (Forward Looking Radar) of limited resolution with multiple radar detections distributed on the target vehicle. Hours of radar log data together with reference value of leading vehicle's lateral offset are utilized both as training data and test data as well. A ten-fold cross validation is applied to evaluate the performance of the generated regression trees together with fused decision forest for each percentage of the training data. As a result, compared with the current approach which calculates the mean of lateral offset, the regression tree and decision forest approach yield more accurate position estimation of the lateral offset from a single leading target vehicle with radar multiple detections.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"64 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":"122183605","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.2007.4456368
Shengmin Cui, Dafang Wang, Jianfeng Wang, Wu Meng
In order to analyze the schedulability of realtime transmission of multi-messages on controller area network (CAN), an amended scheduling algorithm is put forward. This algorithm is based on rate-monotonic (RM) scheduling algorithm, which is widely used on scheduling realtime multitasks on uniprocessor. CAN is treated as exclusive critical sections. The utilization of CAN is defined as a key factor of schedulability. A realistic workload of CAN in pure electric vehicle is present, and the schedulability of this system is calculated. The result is coincident to the actual work. The RM-scheduling upper limits of variant velocity messages are counted, which can be used as the guideline to evaluate the communication ability of CAN.
{"title":"Analysis of schedulability of CAN based on RM algorithm","authors":"Shengmin Cui, Dafang Wang, Jianfeng Wang, Wu Meng","doi":"10.1109/ICVES.2007.4456368","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456368","url":null,"abstract":"In order to analyze the schedulability of realtime transmission of multi-messages on controller area network (CAN), an amended scheduling algorithm is put forward. This algorithm is based on rate-monotonic (RM) scheduling algorithm, which is widely used on scheduling realtime multitasks on uniprocessor. CAN is treated as exclusive critical sections. The utilization of CAN is defined as a key factor of schedulability. A realistic workload of CAN in pure electric vehicle is present, and the schedulability of this system is calculated. The result is coincident to the actual work. The RM-scheduling upper limits of variant velocity messages are counted, which can be used as the guideline to evaluate the communication ability of CAN.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"148 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":"116580554","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.2007.4456359
Jie Zhang, Yunqing Zhang, Liping Chen, Jingzhou Yang
This paper presents a fuzzy logic control strategy on four-wheel steering(4WS) vehicle based on a multi-body vehicle dynamic model. The multi-body vehicle dynamic model based on ADAMS can accurately predict the dynamics performance of the vehicle. Fuzzy logic is applied to track the yaw velocity of the two degrees of freedom ideal model through the co-simulation of ADAMS and Matlab Fuzzy control unit with the optimized membership function. The fuzzy control parameters are optimized and analyzed by a combined optimization algorithm (Genetic Algorithm (GA) and Nonlinear Programming Quadratic Line search (NLPQL) method) combined with response surface model (RSM). Single lane change test is chosen to validate the fuzzy control logic strategy. Simulation result shows that four-wheel steering vehicle with the fuzzy control logic strategy can improve vehicle handling stability greatly comparing with traditional front wheel steering.
{"title":"A fuzzy control strategy and optimization for four wheel steering system","authors":"Jie Zhang, Yunqing Zhang, Liping Chen, Jingzhou Yang","doi":"10.1109/ICVES.2007.4456359","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456359","url":null,"abstract":"This paper presents a fuzzy logic control strategy on four-wheel steering(4WS) vehicle based on a multi-body vehicle dynamic model. The multi-body vehicle dynamic model based on ADAMS can accurately predict the dynamics performance of the vehicle. Fuzzy logic is applied to track the yaw velocity of the two degrees of freedom ideal model through the co-simulation of ADAMS and Matlab Fuzzy control unit with the optimized membership function. The fuzzy control parameters are optimized and analyzed by a combined optimization algorithm (Genetic Algorithm (GA) and Nonlinear Programming Quadratic Line search (NLPQL) method) combined with response surface model (RSM). Single lane change test is chosen to validate the fuzzy control logic strategy. Simulation result shows that four-wheel steering vehicle with the fuzzy control logic strategy can improve vehicle handling stability greatly comparing with traditional front wheel steering.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"13 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":"126561100","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.2007.4456376
Qingmei Yang, Jianmin Sun
The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.
{"title":"A location method for autonomous vehicle based on integrated GPS/INS","authors":"Qingmei Yang, Jianmin Sun","doi":"10.1109/ICVES.2007.4456376","DOIUrl":"https://doi.org/10.1109/ICVES.2007.4456376","url":null,"abstract":"The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"14 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":"125583030","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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