Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505215
Jin Wang, Q. Shi, Huapu Lu
Traffic flow forecasting has attracted much interest in current literature because of its importance in both the theoretical and empirical aspects of ITS deployment. Many models and methods have been presented in the past. But most of them regard the transportation system as the linear system and using the linear theory to predict the traffic flow. In fact, transportation system is a nonlinear system and traffic flow data exhibits chaotic properties. In this paper, we try to use the chaos theory to forecast the traffic flow in a short-term. Usually there is noise in the collected data which decrease the forecasting precision. So we denoise the data using wavelet transform before forecasting in this paper. The experiment is performed for inductance loop data collected in five minutes interval from the viaduct of Yan'an road in Shanghai in China. And at last our study concludes that techniques based on phase space reconstruction can be used to predict the traffic flow in a short-term. Furthermore, the prediction result is accurate and reliable.
{"title":"The study of short-term traffic flow forecasting based on theory of chaos","authors":"Jin Wang, Q. Shi, Huapu Lu","doi":"10.1109/IVS.2005.1505215","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505215","url":null,"abstract":"Traffic flow forecasting has attracted much interest in current literature because of its importance in both the theoretical and empirical aspects of ITS deployment. Many models and methods have been presented in the past. But most of them regard the transportation system as the linear system and using the linear theory to predict the traffic flow. In fact, transportation system is a nonlinear system and traffic flow data exhibits chaotic properties. In this paper, we try to use the chaos theory to forecast the traffic flow in a short-term. Usually there is noise in the collected data which decrease the forecasting precision. So we denoise the data using wavelet transform before forecasting in this paper. The experiment is performed for inductance loop data collected in five minutes interval from the viaduct of Yan'an road in Shanghai in China. And at last our study concludes that techniques based on phase space reconstruction can be used to predict the traffic flow in a short-term. Furthermore, the prediction result is accurate and reliable.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128069926","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505100
A. Dankers, N. Barnes, A. Zelinsky
We present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The approach enables an estimation of the velocity of the vehicle relative to the road, and the velocity of objects in the scene. We provide footage of preliminary results of the system operating in real-time, including dynamic object extraction and tracking, ground plane extraction, and recovery of vehicle velocity.
{"title":"Active vision for road scene awareness","authors":"A. Dankers, N. Barnes, A. Zelinsky","doi":"10.1109/IVS.2005.1505100","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505100","url":null,"abstract":"We present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The approach enables an estimation of the velocity of the vehicle relative to the road, and the velocity of objects in the scene. We provide footage of preliminary results of the system operating in real-time, including dynamic object extraction and tracking, ground plane extraction, and recovery of vehicle velocity.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130940277","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505124
S. Nedevschi, R. Danescu, T. Mariţa, F. Oniga, C. Pocol, S. Sobol, T. Graf, R. Schmidt
This paper presents a high accuracy, far range stereovision approach for driving environment perception based on 3D lane and obstacle detection. Stereovision allows the elimination of the common assumptions used in most monocular systems: flat road, constant pitch angle or absence of roll angle. The lane detection method is based on clothoidal 3D lane model. The detected lane parameters are the vertical and horizontal curvatures, the lane width and the roll angle. The detected lane profile is used for road obstacle features separation. Based on a vicinity criteria the over road 3D points are grouped and tracked over frames. The system detects and classifies the meaningful obstacles in terms of 3D position, size and speed.
{"title":"Driving environment perception using stereovision","authors":"S. Nedevschi, R. Danescu, T. Mariţa, F. Oniga, C. Pocol, S. Sobol, T. Graf, R. Schmidt","doi":"10.1109/IVS.2005.1505124","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505124","url":null,"abstract":"This paper presents a high accuracy, far range stereovision approach for driving environment perception based on 3D lane and obstacle detection. Stereovision allows the elimination of the common assumptions used in most monocular systems: flat road, constant pitch angle or absence of roll angle. The lane detection method is based on clothoidal 3D lane model. The detected lane parameters are the vertical and horizontal curvatures, the lane width and the roll angle. The detected lane profile is used for road obstacle features separation. Based on a vicinity criteria the over road 3D points are grouped and tracked over frames. The system detects and classifies the meaningful obstacles in terms of 3D position, size and speed.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128662496","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}
This manuscript addresses the design and implementation of an encrypted mobile embedded surveillance system, EMESS, including a wireless server and mobile devices. Not only the mobility of the hand-held devices, but also the surveillance system can work in a moving body, then, a real mobile surveillance system is provided. In the security applications of vehicles, EMESS also can provide the images of thieves and robbers to the vehicle owner. We complete the related works of EMESS and the corresponding application programs for wireless communication of hand-held devices.
{"title":"An encrypted mobile embedded surveillance system","authors":"Bing-Fei Wu, Hsin-Yuan Peng, Chao-Jung Chen, Yi-Huang Chan","doi":"10.1109/IVS.2005.1505153","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505153","url":null,"abstract":"This manuscript addresses the design and implementation of an encrypted mobile embedded surveillance system, EMESS, including a wireless server and mobile devices. Not only the mobility of the hand-held devices, but also the surveillance system can work in a moving body, then, a real mobile surveillance system is provided. In the security applications of vehicles, EMESS also can provide the images of thieves and robbers to the vehicle owner. We complete the related works of EMESS and the corresponding application programs for wireless communication of hand-held devices.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"31 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120899903","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505104
D. Ngai, N. Yung
In this paper, we propose a new method for solving the reinforcement learning problem in a dynamically changing environment, as in vehicle navigation, in which the Markov decision process used in traditional reinforcement learning is modified so that the response of the environment is taken into consideration for determining the agent's next state. This is achieved by changing the action-value function to handle three parameters at a time, namely, the current state, action taken by the agent, and action taken by the environment. As it considers the actions by the agent and environment, it is termed "double action". Based on the Q-learning method, the proposed method is implemented and the update rule is modified to handle all of the three parameters. Preliminary results show that the proposed method has the sum of rewards (negative) 89.5% less than that of the traditional method. Apart from that, our new method also has the total number of collisions and mean steps used in one episode 89.5% and 15.5% lower than that of the traditional method respectively.
{"title":"Double action Q-learning for obstacle avoidance in a dynamically changing environment","authors":"D. Ngai, N. Yung","doi":"10.1109/IVS.2005.1505104","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505104","url":null,"abstract":"In this paper, we propose a new method for solving the reinforcement learning problem in a dynamically changing environment, as in vehicle navigation, in which the Markov decision process used in traditional reinforcement learning is modified so that the response of the environment is taken into consideration for determining the agent's next state. This is achieved by changing the action-value function to handle three parameters at a time, namely, the current state, action taken by the agent, and action taken by the environment. As it considers the actions by the agent and environment, it is termed \"double action\". Based on the Q-learning method, the proposed method is implemented and the update rule is modified to handle all of the three parameters. Preliminary results show that the proposed method has the sum of rewards (negative) 89.5% less than that of the traditional method. Apart from that, our new method also has the total number of collisions and mean steps used in one episode 89.5% and 15.5% lower than that of the traditional method respectively.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122275864","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505129
M. Kais, P. Bonnifait, D. Bétaille, F. Peyret
This paper tackles the problem of precise car localization for advance driver assistance system applications. Localization is performed by loosely coupling proprioceptive data with exteroceptive perceptions. Two localization systems were designed, one based on differential GPS and the other on real time kinematic GPS. In both cases, sensor latencies were precisely measured and taken into account to minimize their effects. Track experimentations were carried out with two vehicles at different speeds. A methodology based on a comparison with a post-processed kinematic GPS reference is presented to evaluate performances of the two systems.
{"title":"Development of loosely-coupled FOG/DGPS and FOG/RTk systems for ADAS and a methodology to assess their real-time performances","authors":"M. Kais, P. Bonnifait, D. Bétaille, F. Peyret","doi":"10.1109/IVS.2005.1505129","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505129","url":null,"abstract":"This paper tackles the problem of precise car localization for advance driver assistance system applications. Localization is performed by loosely coupling proprioceptive data with exteroceptive perceptions. Two localization systems were designed, one based on differential GPS and the other on real time kinematic GPS. In both cases, sensor latencies were precisely measured and taken into account to minimize their effects. Track experimentations were carried out with two vehicles at different speeds. A methodology based on a comparison with a post-processed kinematic GPS reference is presented to evaluate performances of the two systems.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122295840","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505199
Ew Cathey, D. Dailey
The Washington State Department of Transportation (WSDOT) has a network of several hundred CCTV traffic surveillance cameras deployed on the freeways and arterials around Seattle for congestion monitoring. However, these cameras are not calibrated and can be panned, tilted and zoomed. This paper presents a novel method of automatically computing enough calibration information for these cameras so that they can produce reliable speed estimates. The method presented uses a straightening technique to remove perspective effects and a correlation technique to establish the necessary scale factor. Temporal correlation between sequential straightened frames of video is used to make robust speed estimates.
{"title":"A novel technique to dynamically measure vehicle speed using uncalibrated roadway cameras","authors":"Ew Cathey, D. Dailey","doi":"10.1109/IVS.2005.1505199","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505199","url":null,"abstract":"The Washington State Department of Transportation (WSDOT) has a network of several hundred CCTV traffic surveillance cameras deployed on the freeways and arterials around Seattle for congestion monitoring. However, these cameras are not calibrated and can be panned, tilted and zoomed. This paper presents a novel method of automatically computing enough calibration information for these cameras so that they can produce reliable speed estimates. The method presented uses a straightening technique to remove perspective effects and a correlation technique to establish the necessary scale factor. Temporal correlation between sequential straightened frames of video is used to make robust speed estimates.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"20 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127019551","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505183
C. Jouvray, S. Gérard, F. Terrier, S. Bouaziz, R. Reynaud
Real-time embedded (RT/E) applications aim at controlling/commanding/monitoring systems. To achieve this goal, RT/E applications are equipped with sensors to acquire specific representative data matching physical phenomena of the environment state. In parallel, work related to sensor design proposed a new concept, called smart sensor, ensuring better solution in this area. But the design of such smart sensors remains very difficult and requires high skill level in various domains. The purpose of this paper is then to suggest a UML based methodology easing the development of RT/E applications relying on smart sensors devices. The methodology has to integrate concepts for data exchange, real-time constraint management, and time coherence mechanisms.
{"title":"UML methodology for smart transducer integration in real-time embedded systems","authors":"C. Jouvray, S. Gérard, F. Terrier, S. Bouaziz, R. Reynaud","doi":"10.1109/IVS.2005.1505183","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505183","url":null,"abstract":"Real-time embedded (RT/E) applications aim at controlling/commanding/monitoring systems. To achieve this goal, RT/E applications are equipped with sensors to acquire specific representative data matching physical phenomena of the environment state. In parallel, work related to sensor design proposed a new concept, called smart sensor, ensuring better solution in this area. But the design of such smart sensors remains very difficult and requires high skill level in various domains. The purpose of this paper is then to suggest a UML based methodology easing the development of RT/E applications relying on smart sensors devices. The methodology has to integrate concepts for data exchange, real-time constraint management, and time coherence mechanisms.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127149023","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505131
A. Eidehall, Thomas Bo Schön, F. Gustafsson
This paper deals with the problem of estimating the vehicle surroundings (lane geometry and the position of other vehicles), which is needed for intelligent automotive systems, such as adaptive cruise control, collision avoidance and lane guidance. This results in a nonlinear estimation problem. For automotive tracking systems, these problems are traditionally handled using the extended Kalman filter. In this paper we describe the application of the marginalized particle filter to this problem. Studies using both synthetic and authentic data show that the marginalized particle filter can in fact give better performance than the extended Kalman filter. However, the computational load is higher.
{"title":"The marginalized particle filter for automotive tracking applications","authors":"A. Eidehall, Thomas Bo Schön, F. Gustafsson","doi":"10.1109/IVS.2005.1505131","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505131","url":null,"abstract":"This paper deals with the problem of estimating the vehicle surroundings (lane geometry and the position of other vehicles), which is needed for intelligent automotive systems, such as adaptive cruise control, collision avoidance and lane guidance. This results in a nonlinear estimation problem. For automotive tracking systems, these problems are traditionally handled using the extended Kalman filter. In this paper we describe the application of the marginalized particle filter to this problem. Studies using both synthetic and authentic data show that the marginalized particle filter can in fact give better performance than the extended Kalman filter. However, the computational load is higher.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125339545","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505128
Jianmin Sun, Qingmei Yang
With the nonlinearity of the road-automotive system, an adjustable fuzzy control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The rectification factor is adjusted online according to LMS adaptive method. The factor can be influenced by exciting signal and controlled signal. For two degree-of-freedom (DOF) automotive model, the simulation of automotive performance in road signal is studied; its results show the adjustable fuzzy controller can reduce the acceleration of the sprung mass by a factor of 20. According to the experiment study of automotive model, the experiment effect is basically similar to simulation results. It proves further the validity of advanced algorithm.
{"title":"Self-adjustment fuzzy control of automobile active suspension","authors":"Jianmin Sun, Qingmei Yang","doi":"10.1109/IVS.2005.1505128","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505128","url":null,"abstract":"With the nonlinearity of the road-automotive system, an adjustable fuzzy control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The rectification factor is adjusted online according to LMS adaptive method. The factor can be influenced by exciting signal and controlled signal. For two degree-of-freedom (DOF) automotive model, the simulation of automotive performance in road signal is studied; its results show the adjustable fuzzy controller can reduce the acceleration of the sprung mass by a factor of 20. According to the experiment study of automotive model, the experiment effect is basically similar to simulation results. It proves further the validity of advanced algorithm.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121477456","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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