Pub Date : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965142
Siegfried Seebacher, Bernd Datler, Jacqueline Erhart, Gerhard Greiner, M. Harrer, Peter Hrassnig, Arnold Präsent, C. Schwarzl, Martin Ullrich
Ahstract-The electronic horizon of a vehicle is limited by the range of the different sensor technologies. In contrast, infrastructure sensor data can track the traffic flow and even single vehicles from a bird's perspective, and this data can be used to post-validate driving maneuvers by comparing a vehicle's on-board sensor data with the infrastructure data. In the future, this data could even be used to enhance autonomous vehicles' perception. This paper highlights the achievements in data fusion of state-of-the-art and novel infrastructure sensor data and their planned use for the vehicle-to-infrastructure communication.
{"title":"Infrastructure data fusion for validation and future enhancements of autonomous vehicles' perception on Austrian motorways","authors":"Siegfried Seebacher, Bernd Datler, Jacqueline Erhart, Gerhard Greiner, M. Harrer, Peter Hrassnig, Arnold Präsent, C. Schwarzl, Martin Ullrich","doi":"10.1109/ICCVE45908.2019.8965142","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965142","url":null,"abstract":"Ahstract-The electronic horizon of a vehicle is limited by the range of the different sensor technologies. In contrast, infrastructure sensor data can track the traffic flow and even single vehicles from a bird's perspective, and this data can be used to post-validate driving maneuvers by comparing a vehicle's on-board sensor data with the infrastructure data. In the future, this data could even be used to enhance autonomous vehicles' perception. This paper highlights the achievements in data fusion of state-of-the-art and novel infrastructure sensor data and their planned use for the vehicle-to-infrastructure communication.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124419109","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965040
Dominik Notz, M. Sigl, Thomas Kühbeck, Sebastian Wagner, Korbinian Groh, C. Schütz, D. Watzenig
Assessing the safety of an autonomous vehicle is an open problem within the research domain for autonomous vehicles. Next to real-world driving tests, simulation and reprocessing of recordings play a crucial role in validating the correct and safe behavior. Current state-of-the-art methods for function reprocessing suffer from several sources of error and hence, might lead to incorrect results. In this work, an overview of the most recent reprocessing methods is given and their shortcomings are described. We suggest the derivation of explicit sensor models and the learning of behavior models for traffic objects. An overview of different levels of sensor and different kinds of agent models is given along with a discussion for the need for statistical and machine learning based models. Furthermore, a novel method, based on infrastructure sensors, to collect the data needed for the derivation of the models is presented.
{"title":"Methods for Improving the Accuracy of the Virtual Assessment of Autonomous Driving","authors":"Dominik Notz, M. Sigl, Thomas Kühbeck, Sebastian Wagner, Korbinian Groh, C. Schütz, D. Watzenig","doi":"10.1109/ICCVE45908.2019.8965040","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965040","url":null,"abstract":"Assessing the safety of an autonomous vehicle is an open problem within the research domain for autonomous vehicles. Next to real-world driving tests, simulation and reprocessing of recordings play a crucial role in validating the correct and safe behavior. Current state-of-the-art methods for function reprocessing suffer from several sources of error and hence, might lead to incorrect results. In this work, an overview of the most recent reprocessing methods is given and their shortcomings are described. We suggest the derivation of explicit sensor models and the learning of behavior models for traffic objects. An overview of different levels of sensor and different kinds of agent models is given along with a discussion for the need for statistical and machine learning based models. Furthermore, a novel method, based on infrastructure sensors, to collect the data needed for the derivation of the models is presented.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123375231","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965110
F. Naets, Jeroen Geysen, W. Desmet
In this work a novel approach for concurrent vehicle model parameter and road profile identification is proposed which exploits the availability of fleet data. By combining measurement data, obtained from low-cost smartphone sensors, for multiple vehicles, typical identifiability issues present in single-vehicle measurements can be circumvented. Moreover, as the presented approach exploits a low order model where the parameters are identified for a specific asset (i.e. a digital twin), the shared road profile can be identified, rather than just the resulting forces. A computational framework is presented and a first experimental validation is performed where a speed-bump is identified using data from three different vehicles. This approach has the potential to improve the availability of accurate data for a.o. customer correlation durability design, road condition monitoring, and active suspension systems.
{"title":"An Approach for Combined Vertical Vehicle Model and Road Profile Identification from Heterogeneous Fleet Data","authors":"F. Naets, Jeroen Geysen, W. Desmet","doi":"10.1109/ICCVE45908.2019.8965110","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965110","url":null,"abstract":"In this work a novel approach for concurrent vehicle model parameter and road profile identification is proposed which exploits the availability of fleet data. By combining measurement data, obtained from low-cost smartphone sensors, for multiple vehicles, typical identifiability issues present in single-vehicle measurements can be circumvented. Moreover, as the presented approach exploits a low order model where the parameters are identified for a specific asset (i.e. a digital twin), the shared road profile can be identified, rather than just the resulting forces. A computational framework is presented and a first experimental validation is performed where a speed-bump is identified using data from three different vehicles. This approach has the potential to improve the availability of accurate data for a.o. customer correlation durability design, road condition monitoring, and active suspension systems.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128584406","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8964890
Halid Mahama, Yangzhou Chen
The benefits of both homogeneous and heterogeneous platooning of automated vehicles have been reported by many studies. One commonality among such studies has been that platooning does provide a positive impact on traffic dynamics through increased average speeds, flow and capacity. Also due to platooning, fuel consumption is reduced and hence positively impacts the environment through reduced emissions. This is even more so when the percentage of automated vehicles is significantly higher than non-automated vehicles. While obvious that today's and near future highways will have automated and non-automated vehicles coexisting, research points towards homogeneity in order to fully realize the benefits of platooning. Research also indicates that when platooning allows maneuvers such as merging and splitting of platoons, these maneuvers present reduced benefits in traffic dynamics and consequently its impact on the environment. In light of these observations, this study presents a highway architecture that implements and controls lane and destination based fixed-routed platoons of automated vehicles with minimal lane changes. The study demonstrates that confining platoons to vehicles of same off-ramp destinations reduces the need for lane changes to a predetermined number, allows for more stable and longer strings of vehicle platoons of up to 24 vehicles per platoon. When compared to conventional traffic, the model presented shows between 135% and 156% increase in average speeds, 70% reduction in travel times and between 39% and 43.5% increase in highway throughput. The open-source traffic simulator, Simulation of Urban Mobility (SUMO) is used to simulate the model presented in this study.
许多研究都报道了同质和异质自动车辆队列的好处。这些研究的一个共同点是，车队确实通过增加平均速度、流量和容量，对交通动态产生了积极影响。此外，由于车队行驶，燃料消耗降低，从而通过减少排放对环境产生积极影响。当自动驾驶汽车的比例明显高于非自动驾驶汽车时，情况更是如此。虽然很明显，在今天和不久的将来，自动驾驶和非自动驾驶车辆将共存，但研究指出，为了充分实现队列行驶的好处，必须实现同质化。研究还表明，当队列允许诸如合并和分割队列之类的机动时，这些机动在交通动态方面的效益会降低，因此对环境的影响也会降低。根据这些观察结果，本研究提出了一种高速公路架构，该架构实现并控制基于车道和目的地的固定路线自动车辆排，并且车道变化最小。研究表明，将车辆排限制在相同的出入口目的地，减少了对预定数量的车道变化的需求，允许更稳定和更长的车辆排，每个排最多24辆车。与传统交通相比，该模型显示平均速度提高135%至156%，行驶时间减少70%，公路吞吐量增加39%至43.5%。利用开源交通模拟器SUMO (Simulation of Urban Mobility)对本文提出的模型进行仿真。
{"title":"Lane Based Platoon Control of Homogeneous Platoons","authors":"Halid Mahama, Yangzhou Chen","doi":"10.1109/ICCVE45908.2019.8964890","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8964890","url":null,"abstract":"The benefits of both homogeneous and heterogeneous platooning of automated vehicles have been reported by many studies. One commonality among such studies has been that platooning does provide a positive impact on traffic dynamics through increased average speeds, flow and capacity. Also due to platooning, fuel consumption is reduced and hence positively impacts the environment through reduced emissions. This is even more so when the percentage of automated vehicles is significantly higher than non-automated vehicles. While obvious that today's and near future highways will have automated and non-automated vehicles coexisting, research points towards homogeneity in order to fully realize the benefits of platooning. Research also indicates that when platooning allows maneuvers such as merging and splitting of platoons, these maneuvers present reduced benefits in traffic dynamics and consequently its impact on the environment. In light of these observations, this study presents a highway architecture that implements and controls lane and destination based fixed-routed platoons of automated vehicles with minimal lane changes. The study demonstrates that confining platoons to vehicles of same off-ramp destinations reduces the need for lane changes to a predetermined number, allows for more stable and longer strings of vehicle platoons of up to 24 vehicles per platoon. When compared to conventional traffic, the model presented shows between 135% and 156% increase in average speeds, 70% reduction in travel times and between 39% and 43.5% increase in highway throughput. The open-source traffic simulator, Simulation of Urban Mobility (SUMO) is used to simulate the model presented in this study.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127897555","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965235
Kuen-Long Lu, Yung-Yuan Chen
In this paper, we base on the fault tree analysis (FTA) to propose an Automotive Safety Integrity Level (ASIL)-oriented hardware design framework for safety-critical automotive systems, where ASIL plays a key component in the ISO 26262 safety standard to measure risk of a specific system component. There are two contributions in this framework: FTA-based weak-point analysis and ASIL-oriented fault-tolerant design methodologies. The former can rapidly identify the weak-points for safety through the fault tree analysis, and the latter can effectively introduce the safety mechanisms in the hardware design to fulfill the requirements of target ASIL. We use the autonomous emergency braking (AEB) system to demonstrate the effectiveness of the proposed design framework.
{"title":"ISO 26262 ASIL-Oriented Hardware Design Framework for Safety-Critical Automotive Systems","authors":"Kuen-Long Lu, Yung-Yuan Chen","doi":"10.1109/ICCVE45908.2019.8965235","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965235","url":null,"abstract":"In this paper, we base on the fault tree analysis (FTA) to propose an Automotive Safety Integrity Level (ASIL)-oriented hardware design framework for safety-critical automotive systems, where ASIL plays a key component in the ISO 26262 safety standard to measure risk of a specific system component. There are two contributions in this framework: FTA-based weak-point analysis and ASIL-oriented fault-tolerant design methodologies. The former can rapidly identify the weak-points for safety through the fault tree analysis, and the latter can effectively introduce the safety mechanisms in the hardware design to fulfill the requirements of target ASIL. We use the autonomous emergency braking (AEB) system to demonstrate the effectiveness of the proposed design framework.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"13 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116731017","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965212
P. Wendland, G. Schaefer, R. Thomä
IEEE 802.11p (ITS-G5 in Europe) and LTE-V2X are the dominant wireless access technologies for vehicle-to-vehicle communication. While the former has been extensively tested and evaluated for years, the cellular approach is relatively new. Previous research reported safety-critical issues of the distributed MAC mode such as re-occurring packet collisions, caused by repeated resource reuse due to the semi-persistent scheduling (SPS). While the evaluation of LTE-V2X is in its early stages, modifications and additions are simultaneously being released. The ETSI recently published a distributed congestion control (DCC) mechanism to limit the channel load and ensure that the random-access based MAC protocol can work as intended. By dropping packets and reducing the predictability of resource allocations achieved by SPS, this DCC mechanism raises concerns about the compatibility with the MAC protocol. In this paper, we present a modification to the MAC protocol that limits the impact of re-occurring collisions while retaining the benefits of SPS. Additionally, the proposed modification allows to implement an improved DCC version, which is better compatible with the MAC protocol of LTE-V2X. The modifications and DCC variant are evaluated in a system-level simulation and show significant benefits compared to the standard-compliant versions.
{"title":"LTE-V2X Mode 4: Increasing Robustness and DCC Compatibility with Reservation Splitting","authors":"P. Wendland, G. Schaefer, R. Thomä","doi":"10.1109/ICCVE45908.2019.8965212","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965212","url":null,"abstract":"IEEE 802.11p (ITS-G5 in Europe) and LTE-V2X are the dominant wireless access technologies for vehicle-to-vehicle communication. While the former has been extensively tested and evaluated for years, the cellular approach is relatively new. Previous research reported safety-critical issues of the distributed MAC mode such as re-occurring packet collisions, caused by repeated resource reuse due to the semi-persistent scheduling (SPS). While the evaluation of LTE-V2X is in its early stages, modifications and additions are simultaneously being released. The ETSI recently published a distributed congestion control (DCC) mechanism to limit the channel load and ensure that the random-access based MAC protocol can work as intended. By dropping packets and reducing the predictability of resource allocations achieved by SPS, this DCC mechanism raises concerns about the compatibility with the MAC protocol. In this paper, we present a modification to the MAC protocol that limits the impact of re-occurring collisions while retaining the benefits of SPS. Additionally, the proposed modification allows to implement an improved DCC version, which is better compatible with the MAC protocol of LTE-V2X. The modifications and DCC variant are evaluated in a system-level simulation and show significant benefits compared to the standard-compliant versions.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121189348","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965242
Teo T. Niemirepo, Juuso Toivonen, Marko Viitanen, Jarno Vanne
This paper presents an open-source simulation environment for 360-degree traffic imaging. The environment is built on the openly available AirSim Windridge City Asset. In this work, the city is populated with custom autonomous vehicles and pedestrians. The vehicles navigate along a designed node map that can be manually placed on the roads according to the specified traffic regulations. The vehicles are also made to detect other vehicles, pedestrians, and traffic lights for simple collision avoidance and smoother traffic flows in intersections. The pedestrians follow a NavMesh placed on the walkable areas and stop at the traffic lights when crossing the streets. Weather effects, time-of-day, and rain distortion lens shader bring the environment more close to the reality. The whole system is built on top of free and self-made assets, making it easy to use, configure, and extend. The performance of the simulator exceeds 60 frames per second when run on NVIDIA RTX 2070 with Intel Xeon E5-2620 or equivalent hardware.
{"title":"Open-Source CiThruS Simulation Environment for Real-Time 360-Degree Traffic Imaging","authors":"Teo T. Niemirepo, Juuso Toivonen, Marko Viitanen, Jarno Vanne","doi":"10.1109/ICCVE45908.2019.8965242","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965242","url":null,"abstract":"This paper presents an open-source simulation environment for 360-degree traffic imaging. The environment is built on the openly available AirSim Windridge City Asset. In this work, the city is populated with custom autonomous vehicles and pedestrians. The vehicles navigate along a designed node map that can be manually placed on the roads according to the specified traffic regulations. The vehicles are also made to detect other vehicles, pedestrians, and traffic lights for simple collision avoidance and smoother traffic flows in intersections. The pedestrians follow a NavMesh placed on the walkable areas and stop at the traffic lights when crossing the streets. Weather effects, time-of-day, and rain distortion lens shader bring the environment more close to the reality. The whole system is built on top of free and self-made assets, making it easy to use, configure, and extend. The performance of the simulator exceeds 60 frames per second when run on NVIDIA RTX 2070 with Intel Xeon E5-2620 or equivalent hardware.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122900032","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8965144
Steven D. Zehr, Jijo K. Mathew, D. Bullock
Electric scooters are becoming a common form of transportation in large cities and on college campuses. These shared dockless scooters are seen as a sustainable and environmentally friendly mode of transportation for commute and recreational trips. As these scooters are gaining popularity, rider comfort will be an important performance measure for scooter companies. This research uses data from a three-axis accelerometer mounted on two scooter models - the MI M365 and Segway ES2 - to compare ride quality on a series of multi-use paths with a variety of pavement. The test route was comprised of four pavement types - asphalt, concrete, brick pavers, and permeable pavement. Results indicate that the MI M365 with pneumatic tires provided superior ride quality on all pavement types than the Segway ES2 with solid tires. A t-test conducted to test this hypothesis also revealed that the results were significant. For the MI M365, the ride quality on the four pavement types was noticeably indifferent for 20% of the time. For the remaining time, the permeable pavement provided slightly better ride quality than other surfaces.
{"title":"Quantitative Assessment of Pavement and Scooter Suspension on Ride Quality","authors":"Steven D. Zehr, Jijo K. Mathew, D. Bullock","doi":"10.1109/ICCVE45908.2019.8965144","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965144","url":null,"abstract":"Electric scooters are becoming a common form of transportation in large cities and on college campuses. These shared dockless scooters are seen as a sustainable and environmentally friendly mode of transportation for commute and recreational trips. As these scooters are gaining popularity, rider comfort will be an important performance measure for scooter companies. This research uses data from a three-axis accelerometer mounted on two scooter models - the MI M365 and Segway ES2 - to compare ride quality on a series of multi-use paths with a variety of pavement. The test route was comprised of four pavement types - asphalt, concrete, brick pavers, and permeable pavement. Results indicate that the MI M365 with pneumatic tires provided superior ride quality on all pavement types than the Segway ES2 with solid tires. A t-test conducted to test this hypothesis also revealed that the results were significant. For the MI M365, the ride quality on the four pavement types was noticeably indifferent for 20% of the time. For the remaining time, the permeable pavement provided slightly better ride quality than other surfaces.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129328613","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8964949
Mohammad Ali Zaiter, R. Lherbier, G. Faour, O. Bazzi, J. Noyer
In the context of road defects detection, especially potholes detection, using a 3D LiDAR mounted on a vehicle seems to be an interesting way to provide location and geometric information about the defects. In this paper, an extrinsic calibration method is proposed, to merge all the LiDAR frames in a common reference frame and to define the positioning of the sensor. This method depends mainly on the geometrical ground impact model in order to estimate the LiDAR extrinsic parameters by successive steps algorithm: fitting plane, Euler's angles estimation of rotation, height estimation and parameters optimization. Results are presented in terms of precision and robustness against the LiDAR range accuracy proving the performance of this calibration method.
{"title":"3D LiDAR Extrinsic Calibration Method using Ground Plane Model Estimation","authors":"Mohammad Ali Zaiter, R. Lherbier, G. Faour, O. Bazzi, J. Noyer","doi":"10.1109/ICCVE45908.2019.8964949","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8964949","url":null,"abstract":"In the context of road defects detection, especially potholes detection, using a 3D LiDAR mounted on a vehicle seems to be an interesting way to provide location and geometric information about the defects. In this paper, an extrinsic calibration method is proposed, to merge all the LiDAR frames in a common reference frame and to define the positioning of the sensor. This method depends mainly on the geometrical ground impact model in order to estimate the LiDAR extrinsic parameters by successive steps algorithm: fitting plane, Euler's angles estimation of rotation, height estimation and parameters optimization. Results are presented in terms of precision and robustness against the LiDAR range accuracy proving the performance of this calibration method.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124584487","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 : 2019-11-01DOI: 10.1109/ICCVE45908.2019.8964985
Carlos Hidalgo, Ray Lattarulo, Joshué Pérez, E. Asua
Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.
{"title":"Hybrid trajectory planning approach for roundabout merging scenarios","authors":"Carlos Hidalgo, Ray Lattarulo, Joshué Pérez, E. Asua","doi":"10.1109/ICCVE45908.2019.8964985","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8964985","url":null,"abstract":"Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"271 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116434717","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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