Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225911
Bo Tang, S. Khokhar, Rakesh Gupta
Navigating a car at intersections is one of the most challenging parts of urban driving. Successful navigation needs predicting of intention of other traffic participants at the intersection. Such prediction is an important component for both Advanced Driver Assistance Systems (ADAS) and Autonomous Driving (AD) Systems. In this paper, we present a driver intention prediction model for general intersections. Our model incorporates lane-level maps of an intersection and makes a prediction based on past position and movement of the vehicle. We create a real-world dataset of 375 turning tracks at a variety of intersections. We present turn prediction results based on Hidden Markov Model (HMM), Support Vector Machine (SVM), and Dynamic Bayesian Network (DBN). SVM and DBN models give higher accuracy compared to HMM models. We get over 90% turn prediction accuracy 1.6 seconds before the intersection. Our work advances the state of art in ADAS/AD systems with a turn prediction model for general intersections.
{"title":"Turn prediction at generalized intersections","authors":"Bo Tang, S. Khokhar, Rakesh Gupta","doi":"10.1109/IVS.2015.7225911","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225911","url":null,"abstract":"Navigating a car at intersections is one of the most challenging parts of urban driving. Successful navigation needs predicting of intention of other traffic participants at the intersection. Such prediction is an important component for both Advanced Driver Assistance Systems (ADAS) and Autonomous Driving (AD) Systems. In this paper, we present a driver intention prediction model for general intersections. Our model incorporates lane-level maps of an intersection and makes a prediction based on past position and movement of the vehicle. We create a real-world dataset of 375 turning tracks at a variety of intersections. We present turn prediction results based on Hidden Markov Model (HMM), Support Vector Machine (SVM), and Dynamic Bayesian Network (DBN). SVM and DBN models give higher accuracy compared to HMM models. We get over 90% turn prediction accuracy 1.6 seconds before the intersection. Our work advances the state of art in ADAS/AD systems with a turn prediction model for general intersections.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130703220","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225714
A. Ali, G. Garcia, P. Martinet
Finding solutions to traffic congestion is an active area of research. Many ideas have been proposed to reduce this problem, among of this ideas is moving in platoon. The constant time headway policy (CTH) is a very important platoon control policy, but it is too conservative and induces large inter-vehicle distances. Recently, we have proposed a modification of CTH [1], [2]. This modification reduces inter-vehicle distances and makes CTH very practical. This paper focuses on the control of platoons in urban areas. To control the vehicles, we assume that the longitudinal and the lateral dynamics are decoupled. We take into account a simplified engine model. We linearize the two dynamics using exact linearisation technique. Then, we use the modified CTH control law, adapted to urban platoons, for the longitudinal control and the robust sliding mode control for lateral control. The stability and the safety of the platoon are also studied. The conditions of stability of homogeneous and nonhomogeneous platoons are established. The conditions to verify the safety of the platoon for the longitudinal control (assuming stable and accurate lateral control) are exhibited. The weaknesses (large inter-vehicle distance, weak stability near low frequencies) of the CTH are solved. The improved performance and the safety of the platoon are verified by simulation using TORCS (The Open Racing Car Simulator). A platoon consisting of ten vehicles is created and tested on a curved track, keeping a small desired intervehicle distance. The stability and safety of the longitudinal and lateral controls are tested in many scenarios. These scenarios include platoon creation, changing the speed and emergency stop on straight and curved tracks. The results demonstrate the effectiveness of the proposed approach.
寻找解决交通拥堵的办法是一个活跃的研究领域。为了减少这个问题，人们提出了许多想法，其中之一就是排兵布阵。恒时距策略(CTH)是一种非常重要的队列控制策略，但该策略过于保守，导致车辆间距离过大。最近，我们提出了对CTH的修改[1]，[2]。这种修改减少了车辆间的距离，使CTH非常实用。本文的研究重点是城市地区的队列控制问题。为了控制车辆，我们假设纵向和横向动力学是解耦的。我们考虑一个简化的发动机模型。我们使用精确线性化技术对两种动态进行线性化。然后，采用改进的CTH控制律进行纵向控制，采用鲁棒滑模控制进行横向控制。对排的稳定性和安全性进行了研究。建立了均匀排和非均匀排的稳定性条件。给出了纵向控制(假设横向控制稳定且准确)下验证排的安全性的条件。解决了CTH的车距大、低频稳定性差等缺点。利用TORCS (The Open Racing Car Simulator)进行了仿真，验证了改进后的性能和安全性。创建一个由10辆车组成的排，并在弯曲的轨道上进行测试，保持较小的期望车辆间距离。在许多情况下测试了纵向和横向控制的稳定性和安全性。这些场景包括组队、改变速度和在直线和弯曲轨道上紧急停车。结果表明了该方法的有效性。
{"title":"Urban platooning using a flatbed tow truck model","authors":"A. Ali, G. Garcia, P. Martinet","doi":"10.1109/IVS.2015.7225714","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225714","url":null,"abstract":"Finding solutions to traffic congestion is an active area of research. Many ideas have been proposed to reduce this problem, among of this ideas is moving in platoon. The constant time headway policy (CTH) is a very important platoon control policy, but it is too conservative and induces large inter-vehicle distances. Recently, we have proposed a modification of CTH [1], [2]. This modification reduces inter-vehicle distances and makes CTH very practical. This paper focuses on the control of platoons in urban areas. To control the vehicles, we assume that the longitudinal and the lateral dynamics are decoupled. We take into account a simplified engine model. We linearize the two dynamics using exact linearisation technique. Then, we use the modified CTH control law, adapted to urban platoons, for the longitudinal control and the robust sliding mode control for lateral control. The stability and the safety of the platoon are also studied. The conditions of stability of homogeneous and nonhomogeneous platoons are established. The conditions to verify the safety of the platoon for the longitudinal control (assuming stable and accurate lateral control) are exhibited. The weaknesses (large inter-vehicle distance, weak stability near low frequencies) of the CTH are solved. The improved performance and the safety of the platoon are verified by simulation using TORCS (The Open Racing Car Simulator). A platoon consisting of ten vehicles is created and tested on a curved track, keeping a small desired intervehicle distance. The stability and safety of the longitudinal and lateral controls are tested in many scenarios. These scenarios include platoon creation, changing the speed and emergency stop on straight and curved tracks. The results demonstrate the effectiveness of the proposed approach.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133513117","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225748
Nils Einecke, J. Eggert
Block-Matching stereo is commonly used in applications with low computing resources in order to get some rough depth estimates. However, research on this simple stereo estimation technique has been very scarce since the advent of energy-based methods which promise a higher quality and a larger potential for further improvement. In the domain of intelligent vehicles, especially semi-global-matching (SGM) is widely spread due to its good performance and simple implementation. Unfortunately, the big downside of SGM is its large memory footprint because it is working on the full disparity space image. In contrast to this, local block-matching stereo is much more lean. In this paper, we will introduce a novel multi-block-matching scheme which tremendously improves the result of standard block-matching stereo while preserving the low memory-footprint and the low computational complexity. We tested our new multi-block-matching scheme on the KITTI stereo benchmark as well as on the new Middlebury stereo benchmark. For the KITTI benchmark we achieve results that even surpass the results of the best SGM implementations. For the new Middlebury benchmark we get results that are only slightly worse than state-of-the-art SGM implementations.
{"title":"A multi-block-matching approach for stereo","authors":"Nils Einecke, J. Eggert","doi":"10.1109/IVS.2015.7225748","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225748","url":null,"abstract":"Block-Matching stereo is commonly used in applications with low computing resources in order to get some rough depth estimates. However, research on this simple stereo estimation technique has been very scarce since the advent of energy-based methods which promise a higher quality and a larger potential for further improvement. In the domain of intelligent vehicles, especially semi-global-matching (SGM) is widely spread due to its good performance and simple implementation. Unfortunately, the big downside of SGM is its large memory footprint because it is working on the full disparity space image. In contrast to this, local block-matching stereo is much more lean. In this paper, we will introduce a novel multi-block-matching scheme which tremendously improves the result of standard block-matching stereo while preserving the low memory-footprint and the low computational complexity. We tested our new multi-block-matching scheme on the KITTI stereo benchmark as well as on the new Middlebury stereo benchmark. For the KITTI benchmark we achieve results that even surpass the results of the best SGM implementations. For the new Middlebury benchmark we get results that are only slightly worse than state-of-the-art SGM implementations.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131480306","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225669
Steffen Wahl, Peter Schlumberger, R. Rojas, M. Stampfle
For a vehicle driving safe inside a parking garage autonomously, it is necessary to build a map with its surroundings and also to localize itself within this map. This is known as Simultaneous Localization And Mapping (SLAM). To enable the vehicle to drive autonomously to an assigned parking slot, a parking area, or the exit, the vehicle also needs knowledge about the whole map of the parking garage. This map only contains static elements of the parking garage. Variable elements are not known to the parking garage and therefore are not contained in this static map. In order to reach a target, the vehicle needs to localize itself with respect to this static map. In this contribution the use of such a static map is proposed to support SLAM. This enables SLAM to determine poses related to a static map. Also the performance of SLAM is improved.
{"title":"Localization inside a populated parking garage by using particle filters with a map of the static environment","authors":"Steffen Wahl, Peter Schlumberger, R. Rojas, M. Stampfle","doi":"10.1109/IVS.2015.7225669","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225669","url":null,"abstract":"For a vehicle driving safe inside a parking garage autonomously, it is necessary to build a map with its surroundings and also to localize itself within this map. This is known as Simultaneous Localization And Mapping (SLAM). To enable the vehicle to drive autonomously to an assigned parking slot, a parking area, or the exit, the vehicle also needs knowledge about the whole map of the parking garage. This map only contains static elements of the parking garage. Variable elements are not known to the parking garage and therefore are not contained in this static map. In order to reach a target, the vehicle needs to localize itself with respect to this static map. In this contribution the use of such a static map is proposed to support SLAM. This enables SLAM to determine poses related to a static map. Also the performance of SLAM is improved.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134110215","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225704
WooYeol Jun, JeongMok Ha, Byeongchan Jeon, Joonho Lee, Hong Jeong
We present a method that can detect a circular traffic signs and Light Emitting Diode (LED) traffic signs by combining fast radial symmetric transform and a proposed symmetric shape detection method. The proposed method can choose the appropriate size and sign type by computing the confidence of given image to each pre-defined signs, In a real road video that includes LED signs and circular traffic signs, our algorithm scored 94.3 % detection ratio and 0.33 false positive per frame; these results are acceptable in advanced driver assistance systems.
{"title":"LED traffic sign detection with the fast radial symmetric transform and symmetric shape detection","authors":"WooYeol Jun, JeongMok Ha, Byeongchan Jeon, Joonho Lee, Hong Jeong","doi":"10.1109/IVS.2015.7225704","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225704","url":null,"abstract":"We present a method that can detect a circular traffic signs and Light Emitting Diode (LED) traffic signs by combining fast radial symmetric transform and a proposed symmetric shape detection method. The proposed method can choose the appropriate size and sign type by computing the confidence of given image to each pre-defined signs, In a real road video that includes LED signs and circular traffic signs, our algorithm scored 94.3 % detection ratio and 0.33 false positive per frame; these results are acceptable in advanced driver assistance systems.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133223169","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225759
R. Satzoda, Pujitha Gunaratne, M. Trivedi
Analysis of naturalistic driving data provides a rich set of semantics which can be used to determine the driving characteristics that could lead to crashes and near-crashes. In this paper, we introduce “drive quality” analysis as part of the drive analysis process of naturalistic driving studies (NDSs) that we have previously introduced in [1]. In this first work on drive quality analysis for NDS data reduction, lane change maneuvers that are reduced from naturalistic driving data are further analyzed in a detailed manner in order to characterize them. Visual data from multiple perspectives and the data from in-vehicle sensors are used to characterize lane changes based on both the ego-vehicle kinematics and ego-vehicle surround dynamics. According to available literature on NDS and data reduction, this is the first work that presents an analysis of visual data from multiple perspectives to characterize and extract semantics related to ego-vehicle maneuvers in NDSs such as SHRP2.
{"title":"Drive quality analysis of lane change maneuvers for naturalistic driving studies","authors":"R. Satzoda, Pujitha Gunaratne, M. Trivedi","doi":"10.1109/IVS.2015.7225759","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225759","url":null,"abstract":"Analysis of naturalistic driving data provides a rich set of semantics which can be used to determine the driving characteristics that could lead to crashes and near-crashes. In this paper, we introduce “drive quality” analysis as part of the drive analysis process of naturalistic driving studies (NDSs) that we have previously introduced in [1]. In this first work on drive quality analysis for NDS data reduction, lane change maneuvers that are reduced from naturalistic driving data are further analyzed in a detailed manner in order to characterize them. Visual data from multiple perspectives and the data from in-vehicle sensors are used to characterize lane changes based on both the ego-vehicle kinematics and ego-vehicle surround dynamics. According to available literature on NDS and data reduction, this is the first work that presents an analysis of visual data from multiple perspectives to characterize and extract semantics related to ego-vehicle maneuvers in NDSs such as SHRP2.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"46 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120902055","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225715
J. Ziehn, M. Ruf, B. Rosenhahn, D. Willersinn, J. Beyerer, H. Gotzig
This paper establishes a duality between the calculus of variations, an increasingly common method for trajectory planning, and Hidden Markov Models (HMMs), a common probabilistic graphical model with applications in artificial intelligence and machine learning. This duality allows findings from each field to be applied to the other, namely providing an efficient and robust global optimization tool and machine learning algorithms for variational problems, and fast local solution methods for large state-space HMMs.
{"title":"Correspondence between variational methods and Hidden Markov Models","authors":"J. Ziehn, M. Ruf, B. Rosenhahn, D. Willersinn, J. Beyerer, H. Gotzig","doi":"10.1109/IVS.2015.7225715","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225715","url":null,"abstract":"This paper establishes a duality between the calculus of variations, an increasingly common method for trajectory planning, and Hidden Markov Models (HMMs), a common probabilistic graphical model with applications in artificial intelligence and machine learning. This duality allows findings from each field to be applied to the other, namely providing an efficient and robust global optimization tool and machine learning algorithms for variational problems, and fast local solution methods for large state-space HMMs.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116515335","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225905
Haiyue Piao, Yongtae Park, Byungjo Kim, Hyogon Kim
In the IEEE Wireless Access in Vehicular Environment (WAVE) environment, periodic beacon messages enable proximity awareness that helps prevent collisions. One of the barriers that hinder the beacon delivery is congestion, which means that the amount of beacon traffic exceeds the Dedicated Short Range Communication (DSRC) channel capacity. In this paper, we propose a scheme for vehicles to independently adjust the beaconing rate based on the estimated neighbor vehicle population. Unlike previously proposed works, the proposed scheme does not need cross-layer information such as channel busy ratio (CBR) in order to achieve significant beacon throughput. We demonstrate through extensive simulations that this scheme significantly improves the beacon throughput.
{"title":"Safety beaconing rate control based on vehicle counting in WAVE","authors":"Haiyue Piao, Yongtae Park, Byungjo Kim, Hyogon Kim","doi":"10.1109/IVS.2015.7225905","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225905","url":null,"abstract":"In the IEEE Wireless Access in Vehicular Environment (WAVE) environment, periodic beacon messages enable proximity awareness that helps prevent collisions. One of the barriers that hinder the beacon delivery is congestion, which means that the amount of beacon traffic exceeds the Dedicated Short Range Communication (DSRC) channel capacity. In this paper, we propose a scheme for vehicles to independently adjust the beaconing rate based on the estimated neighbor vehicle population. Unlike previously proposed works, the proposed scheme does not need cross-layer information such as channel busy ratio (CBR) in order to achieve significant beacon throughput. We demonstrate through extensive simulations that this scheme significantly improves the beacon throughput.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116092839","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225858
Fei Yan, Lars Weber, A. Lüdtke
Driver's uncertainty in lane change situations could cause longer reaction times and even lead to wrong decisions, which is very dangerous for the critical driving task. We assume that reducing driver's uncertainty with assistance systems in lane change situations can not only increase traffic safety, but also increase driver's trust in assistance systems. In order to develop trustworthy assistance systems, this paper starts from classifying driver's uncertainty about distance gaps and studies the impact of distance gaps on driver's uncertainty at lane changing. In the driving simulator experiment, participants were asked to take steering or brake actions in different lane change situations. Their reaction times to an acoustic signal ordering to start changing lanes and subjective certainty scores were collected and analyzed. The results showed that with the constant closing speed of 10 km/h between the ego vehicle and rear vehicle, the brake action was more often preferred than the steering and participants were relatively certain with short reaction times at small distance gaps (<; 32m). At large distance gaps (> 44m), the steering was more often chosen than brake actions and participants were also certain with short reaction times. However, when the distance gap was in between (32m, 36m, 40m, 44m), participants were very uncertain and had relatively long reaction times.
{"title":"Classifying driver's uncertainty about the distance gap at lane changing for developing trustworthy assistance systems","authors":"Fei Yan, Lars Weber, A. Lüdtke","doi":"10.1109/IVS.2015.7225858","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225858","url":null,"abstract":"Driver's uncertainty in lane change situations could cause longer reaction times and even lead to wrong decisions, which is very dangerous for the critical driving task. We assume that reducing driver's uncertainty with assistance systems in lane change situations can not only increase traffic safety, but also increase driver's trust in assistance systems. In order to develop trustworthy assistance systems, this paper starts from classifying driver's uncertainty about distance gaps and studies the impact of distance gaps on driver's uncertainty at lane changing. In the driving simulator experiment, participants were asked to take steering or brake actions in different lane change situations. Their reaction times to an acoustic signal ordering to start changing lanes and subjective certainty scores were collected and analyzed. The results showed that with the constant closing speed of 10 km/h between the ego vehicle and rear vehicle, the brake action was more often preferred than the steering and participants were relatively certain with short reaction times at small distance gaps (<; 32m). At large distance gaps (> 44m), the steering was more often chosen than brake actions and participants were also certain with short reaction times. However, when the distance gap was in between (32m, 36m, 40m, 44m), participants were very uncertain and had relatively long reaction times.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"45 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121014204","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 : 2015-08-27DOI: 10.1109/IVS.2015.7225813
S. Anusha, L. Vanajakshi, S. Subramanian, Anuj Sharma
Reliable estimation of performance measures such as queue and delay at intersections is important for the proper management of traffic. The information about these variables is valuable for the development of various traffic control strategies. The spatial nature of queue and delay makes their direct measurement a challenging task. The present study estimated these performance measures for the scenario when the queue ends within the advance detector using the data obtained from loop detectors installed at the entry and the exit of the intersection. A detailed analysis of the data obtained from loop detectors revealed that there were errors in the data. Two model based schemes, namely the occupancy based method and the queue clearance based method, were used for estimation of queue and delay using the erroneous data obtained from loop detectors. The results showed that the queue clearance based method was performing better while estimating queue and delay compared to the occupancy based method. Thus, the queue clearance based method would be valuable for the estimation of queues and delays while implementing with erroneous field data.
{"title":"Performance comparison of two model based schemes for estimation of queue and delay at signalized intersections","authors":"S. Anusha, L. Vanajakshi, S. Subramanian, Anuj Sharma","doi":"10.1109/IVS.2015.7225813","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225813","url":null,"abstract":"Reliable estimation of performance measures such as queue and delay at intersections is important for the proper management of traffic. The information about these variables is valuable for the development of various traffic control strategies. The spatial nature of queue and delay makes their direct measurement a challenging task. The present study estimated these performance measures for the scenario when the queue ends within the advance detector using the data obtained from loop detectors installed at the entry and the exit of the intersection. A detailed analysis of the data obtained from loop detectors revealed that there were errors in the data. Two model based schemes, namely the occupancy based method and the queue clearance based method, were used for estimation of queue and delay using the erroneous data obtained from loop detectors. The results showed that the queue clearance based method was performing better while estimating queue and delay compared to the occupancy based method. Thus, the queue clearance based method would be valuable for the estimation of queues and delays while implementing with erroneous field data.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125138589","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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