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2014 IEEE International Conference on Vehicular Electronics and Safety最新文献

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Multi-sensor fusion method using kalman filter to improve localization accuracy based on android smart phone 基于android智能手机的卡尔曼滤波多传感器融合方法提高定位精度
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063707
Chaobin Wang, Huawei Liang, Xinli Geng, Maofei Zhu
Android smart phone can be used in ITS (Intelligent Transportation Systems) to obtain people and vehicle's location since it is integrated with GPS, direction sensor and acceleration sensor. Because the GPS built in smart phone always has an error of dozens of meters, improving the positioning accuracy is necessary before introducing it into ITS. This paper proposed an approach to improve the accuracy to the street level and get a smooth trajectory without jump points. It is convenient for everyone to use it because almost everyone has a smart phone. Firstly, road-matching algorithm is used to improve the localization accuracy to street level; secondly, speed and direction information are introduced to better reflect the real trajectory; thirdly, Kalman filter is used to eliminate the jump points and make the trajectory smooth; finally, the optimal result obtained from the process of Kalman filter is interpolated to reflect more details. The experiment result shows that the approach is effective.
Android智能手机集成了GPS、方向传感器和加速度传感器,可以在ITS (Intelligent Transportation Systems)中获取人和车辆的位置。由于智能手机内置的GPS总是有几十米的误差,因此在将其引入ITS之前,有必要提高定位精度。本文提出了一种将精度提高到街道水平并获得无跳跃点的平滑轨迹的方法。这是方便大家使用它,因为几乎每个人都有一个智能手机。首先,采用道路匹配算法,将定位精度提高到街道级别;其次,引入速度和方向信息,更好地反映真实轨迹;第三,利用卡尔曼滤波消除跳跃点,使轨迹平滑;最后,对卡尔曼滤波过程中得到的最优结果进行插值,以反映更多的细节。实验结果表明,该方法是有效的。
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引用次数: 9
Night time rear end collision avoidance system using SMPTE-C standard and VWVF 采用SMPTE-C标准和VWVF的夜间追尾防撞系统
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063717
Swapnil M. Parate, V. SeshuBabu, S. Swarup
Driving vehicles under poor illumination and night conditions is stressful for drivers since co-vehicles that share the same road cannot easily be detected. The existing night vision solutions attempt to use enhancement algorithms or high cost thermal sensors. The enhancement techniques in the literature for night vision are complex and require costly processing hardware. We propose a low cost alternative and normal visible camera based solution to detect co-vehicles based on vehicular light patterns (both head and tail lights).The proposed method first detects the vehicular lights in the camera captured scene based on color segmentation using SMPTE-C standard and color conversions. Our approach handles some extreme cases stemming from tail light diffusions. A heuristic rule set is used to pair the detected vehicular lights. The problem of occlusions is addressed by Kalman based predictions and validated with VWVF- Vehicle Width Validation Factor. Our results are promising with more than 90% accuracy in detection of co-vehicles in city roads and motor ways with single way and double way traffic. Our approach can handle multiple co-vehicles on the road in comparison with existing algorithms handling one or two vehicles only. VWVF also helps in estimation of co-vehicle's distance from reference vehicle.
在光线不足和夜间的情况下驾驶车辆,驾驶员的压力很大,因为共用同一条道路的车辆很难被发现。现有的夜视解决方案试图使用增强算法或高成本的热传感器。文献中的夜视增强技术非常复杂,需要昂贵的处理硬件。我们提出了一种低成本的替代方案和基于普通可见光相机的解决方案,以检测基于车辆灯光模式(包括头灯和尾灯)的车辆。该方法首先利用SMPTE-C标准和颜色转换对摄像机拍摄的场景进行颜色分割,检测出车辆灯光;我们的方法处理了一些由尾光扩散引起的极端情况。采用启发式规则集对检测到的车灯进行配对。基于卡尔曼的预测解决了遮挡问题,并用VWVF-车辆宽度验证因子进行了验证。我们的研究结果在城市道路和单行道和双行道的机动车检测中具有90%以上的准确率。与只能处理一辆或两辆车的现有算法相比,我们的方法可以处理道路上的多辆车。VWVF还有助于估计共车与参考车的距离。
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引用次数: 4
Road surface classification for extended floating car data 扩展浮动车数据的路面分类
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063728
D. Irschik, W. Stork
An ongoing trend to connect vehicles for advanced driver assistance and driver information can be observed in the automotive industry. Whereas the channel into the car has been used for years for example by Traffic Message Compact (TMC), functions using the channel out of the car are just evolving. This paper presents a new functionality for extended floating car data (XFCD) where vehicles are used as mobile measurement probes for traffic information. It is demonstrated how vehicle data can be used to identify hazards related to the road surface. The presented algorithm classifies the current road condition using standard vehicle sensor data. The information fusion focuses on weather related events affecting the traffic safety and achieves a very good detection rate. Based on such estimations hazardous spots in the traffic network can be detected. The incar estimation of the hazard potential is presented in the context of a two-step traffic hazard recognition system. A second-level fusion combining several vehicle reports as well as additional data is performed in a central back-end server which also coordinates the provision of the valuable information to other road users as local hazard warning.
在汽车行业,可以观察到一种持续的趋势,即连接车辆以获得高级驾驶员辅助和驾驶员信息。虽然车内通道(例如交通信息联盟(TMC))已经使用多年,但使用车外通道的功能才刚刚发展。本文提出了一种扩展浮动汽车数据(XFCD)的新功能,其中车辆被用作交通信息的移动测量探测器。演示了如何使用车辆数据来识别与路面有关的危险。该算法利用标准车辆传感器数据对当前路况进行分类。信息融合主要针对影响交通安全的天气相关事件,实现了很好的检测率。基于这样的估计,可以检测到交通网络中的危险点。在两步交通危险识别系统的背景下,提出了危险潜力的小车估计。在中央后端服务器上进行第二级融合,结合多个车辆报告和其他数据,该服务器还协调向其他道路使用者提供有价值的信息,作为当地危险警告。
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引用次数: 12
On the need and implementation of an open interface for the automotive domain 汽车领域开放接口的需求与实现
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063736
Marco Wagner, Ansgar Meroth, R. Zöllner, Nico Sußmann
This paper describes a concept of open interfaces for the automotive domain. In recent years, several systems have been developed for connecting a car to the outside world by industry and academia. The paper will illustrate the need for an open interface to access the car by any mobile device. Furthermore, it discusses the requirements for those interfaces, security issues and commercialization aspects of the proposed system. In order to allow students to work on such interfaces a conceptual platform including the hardware and the software parts has been developed.
本文描述了汽车领域开放接口的概念。近年来,工业界和学术界已经开发了几种将汽车与外部世界连接起来的系统。本文将说明需要一个开放的接口,以便通过任何移动设备访问汽车。此外,还讨论了这些接口的需求、安全问题和拟议系统的商业化方面。为了让学生能够在这样的接口上工作,一个包括硬件和软件部分的概念平台已经开发出来。
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引用次数: 2
Specifying a middleware for distributed embedded vehicle control systems 指定分布式嵌入式车辆控制系统的中间件
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063734
A. Reschka, Marcus Nolte, Torben Stolte, Johannes Schlatow, R. Ernst, M. Maurer
The software of electric / electronic vehicle control systems is static in current series vehicles. Most of the systems do not allow maintenance or functional updates, especially in the field of driver assistance systems. Main causes are the testing effort for a software release and the wide variety of different configurations in different vehicle models. In this paper we take a closer look at the requirements for a middleware which allows such updates, verifies new software versions, and adds reconfiguration mechanisms for singular control units and distributed sets of control units. To derive the requirements we consider the general vehicular context with limitations in space, electric power, processing power, and costs together with four exemplary road vehicle control applications (cruise control, automatic parking, stability control, force feedback), and a full x-by-wire target vehicle for implementing these applications. The analysis of these three different sources of requirements results in desired middleware functionalities and requirements, especially concerning runtime timings and update timings. The requirements cover an update functionality with integrated verification, the exchange of applications on singular control units, and the degradation of functionality by switching between control units.
目前系列车辆的电动/电子车辆控制系统软件是静态的。大多数系统不允许维护或功能更新,特别是在驾驶员辅助系统领域。主要原因是软件发布的测试工作和不同车辆模型中不同配置的广泛差异。在本文中,我们仔细研究了中间件的需求,它允许这样的更新,验证新的软件版本,并为单个控制单元和分布式控制单元集添加重新配置机制。为了得出这些要求,我们考虑了空间、电力、处理能力和成本限制的一般车辆环境,以及四种典型的道路车辆控制应用(巡航控制、自动泊车、稳定控制、力反馈),以及实现这些应用的完整x线控目标车辆。对这三种不同的需求来源的分析将得出所需的中间件功能和需求,特别是关于运行时时间和更新时间的分析。这些需求涵盖了集成验证的更新功能,单个控制单元上的应用程序交换,以及通过在控制单元之间切换而导致的功能退化。
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引用次数: 7
Pothole detection and inter vehicular communication 坑洼探测和车际通信
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063729
Shambhu Hegde, Harish V. Mekali, G. Varaprasad
This paper aims at proposing a novel pothole detection system, which assists the driver to avoid potholes on the roads by giving prior warnings. The idea is to build a robot vehicle that is capable of detecting the potholes and transferring this information to the nearby vehicles in the vicinity. By sharing the information about potholes with the nearby vehicles, the probability of accidents or collision can be reduced. Here, we propose a pothole detection model, which can detect the potholes with a minimum depth of 1 inch and share the information within 100 m range. This idea can be extended to design vehicles capable of detecting the humps or other irregularities on the roads. The application illustrated in this work can be effectively used to reduce the problem of increasing accidents caused due to potholes.
本文旨在提出一种新的坑洼检测系统,该系统通过提前预警来帮助驾驶员避开道路上的坑洼。他们的想法是制造一辆机器人汽车,它能够探测到坑洼,并将这些信息传递给附近的车辆。通过与附近的车辆共享坑洼信息,可以减少事故或碰撞的可能性。在这里,我们提出了一种凹坑检测模型,该模型可以检测最小深度为1英寸的凹坑,并在100 m范围内共享信息。这个想法可以扩展到设计能够检测道路上的驼峰或其他不规则的车辆。本文的应用可以有效地减少因路面坑洼而引起的事故日益增多的问题。
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引用次数: 27
Comparison of linear and non-linear control schemes for collision avoidance in heavy road vehicles 重型道路车辆避碰线性与非线性控制方案的比较
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063719
V. Rajaram, S. Subramanian
In this paper, a non-linear controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory. This paper considers the longitudinal dynamics of the vehicle, including the aerodynamic effect, the rolling resistance and the road grade. This paper also considers the maximum tire-road adhesion capacity and the braking capability of the vehicle. The developed controller has been tested using simulation for three realistic scenarios for different road and loading conditions and the results were compared with a controller developed using a linear full state feedback controller. It was observed that the non-linear controller has an advantage in terms of reduced time headway.
本文利用李亚普诺夫理论,设计了一种用于重型商用道路车辆避碰的非线性控制器。本文考虑了车辆的纵向动力学,包括气动效应、滚动阻力和路面坡度。本文还考虑了车辆的最大胎路附着能力和制动能力。对所开发的控制器进行了三种不同道路和负载条件下的仿真测试,并与使用线性全状态反馈控制器开发的控制器进行了比较。结果表明,非线性控制器在减少车头时距方面具有优势。
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引用次数: 1
Trip-synchronous parameter estimation of vehicle and tire model parameters as virtual sensor for load-sensitive lightweight vehicles 基于虚拟传感器的轻量化车辆行程同步参数估计与轮胎模型参数估计
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063730
F. Kohlhuber, Stefan Buechner, M. Lienkamp
Vehicle dynamics controls, like yaw rate controls, need accurate values for vehicle inertial and tire parameters. Normally those can be assumed to remain nearly constant for everyday car trips, but looking at vehicles with very low curb weights, these parameters can change on a wide range due to different passenger or luggage loads. This effect is analyzed with several load scenarios. A Kalman filter based algorithm is presented that is able to determine all vehicle and tire parameters with standard sensors during random everyday trips and within short time. Therefore, an extended nonlinear vehicle model is defined that is able to represent vehicle behavior for everyday driving profiles very well. The estimator is validated using real-world steering and velocity profiles.
车辆动力学控制,如偏航率控制,需要精确的车辆惯性和轮胎参数值。通常情况下,这些参数在日常汽车行驶中几乎保持不变,但考虑到路边重量非常低的车辆,这些参数可能会因乘客或行李负载的不同而发生很大范围的变化。在几种负载情况下分析了这种影响。提出了一种基于卡尔曼滤波的算法,该算法能够在短时间内通过标准传感器在随机的日常行程中确定车辆和轮胎的所有参数。因此,定义了一个扩展的非线性车辆模型,该模型能够很好地表示车辆的日常驾驶行为。该估计器使用实际转向和速度剖面进行了验证。
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引用次数: 2
Soundless Horn And Remote Patroller 无声的号角和远程巡逻
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063733
Rajiv Kapoor, Rajesh Birok, Divi Sai Manoj
Due to the fast growing vehicle population in the recent years has resulted in considerable increase in the traffic on roads, causing alarming noise pollution and also making the task of vehicle monitoring cumbersome for the civil force. This paper proposes an idea to design an on board equipment SHARP which implements soundless horn, a mechanism for vehicles to reduce the traffic noise and a remote patroller to aid the civil force in monitoring the vehicles remotely with enhanced hit ratio of black listed vehicles. The proposed idea, integrates the technologies of image processing and inter vehicular communication for its implementation. The designed on board equipment is targeted for four wheelers and a typical SHARP system is made up of --a camera, processor, DSRC transceiver, GPS device and an LCD display.
由于近年来车辆数量的快速增长,导致道路上的交通量大幅增加,造成了令人担忧的噪音污染,也使民用部队的车辆监控任务变得繁琐。本文提出了设计一种车载设备SHARP,实现静音喇叭,车辆减少交通噪音的机制,以及一个远程巡逻员,以帮助民间力量远程监控车辆,提高黑名单车辆的命中率。该方案将图像处理技术和车际通信技术结合起来实现。设计的车载设备是针对四轮车辆的,典型的夏普系统由摄像头、处理器、DSRC收发器、GPS设备和LCD显示器组成。
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引用次数: 2
An internet of things based intelligent transportation system 基于物联网的智能交通系统
Pub Date : 2014-12-01 DOI: 10.1109/ICVES.2014.7063743
T. Bojan, Umamaheswaran Raman Kumar, Viswanathan Manihatty Bojan
With the emergence of the Internet, a large quantity of data is generated by the communication network, largely triggered by the human activity. Adding to this, emerging technology like Internet-of-Things (IoT) wherein a large number of devices are getting connected to the Internet, thereby accelerating the rate of data generation. There are also future predictions that the number of devices connected to the internet is going to exceed the number of people connected to the internet. So there occurs the necessity to harness this large amount of data (mostly sensor data), convert them into useful information, make intelligent predictions and use this knowledge to build robust systems. In this paper we demonstrate the idea to build an Intelligent Transportation System (ITS) using the Internet of Things (IoT) platform. The system has three components ; the sensor system, monitoring system and the display system. The sensor system has Global Positioning System (GPS), Near Field Communication (NFC), Temperature and Humidity sensors, which are always connected with the internet via a GSM network to track the location, commuter and ambience inside the bus. The monitoring system is used to extract the raw data from the sensors database, convert it in to a meaningful context, triggers some events with in the bus and provide information to the bus driver. The display system is used to show the context data (bus and travel related information) to all the commuters in the bus stop. We describe our prototype and show how this can be used as a fundamental component to build the ITS.
随着互联网的出现,大量的数据是通过通信网络产生的,很大程度上是由人类活动引发的。此外,物联网(IoT)等新兴技术,其中大量设备连接到互联网,从而加快了数据生成的速度。未来也有预测称,联网设备的数量将超过联网人数。因此,有必要利用这些大量数据(主要是传感器数据),将它们转换为有用的信息,做出明智的预测,并利用这些知识构建强大的系统。在本文中,我们展示了使用物联网(IoT)平台构建智能交通系统(ITS)的想法。该系统有三个组成部分;传感器系统、监控系统和显示系统。传感器系统有全球定位系统(GPS)、近场通信(NFC)、温度和湿度传感器,这些传感器总是通过GSM网络与互联网连接,以跟踪公交车内的位置、通勤者和环境。监控系统用于从传感器数据库中提取原始数据,将其转换为有意义的上下文,触发总线上的一些事件,并向总线驱动程序提供信息。显示系统用于向公交车站的所有通勤者显示上下文数据(公交和出行相关信息)。我们描述了我们的原型,并展示了如何将其用作构建ITS的基本组件。
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引用次数: 64
期刊
2014 IEEE International Conference on Vehicular Electronics and Safety
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