Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505160
X. Hong, Z. Yi, H. Jianming, Song Jing-yan
In intelligent transportation system (ITS), it is of great significance to share data among distributed and heterogeneous databases to realized system goal. In this paper a strategy of managing dynamic data information for multi-databases system in ITS under wide-area network (WAN) is proposed. Data directory is introduced to record data information of every database system, and is periodically updated by using alphabetical link for database structure set. Updating message is transferred peer-to-peer to avoid bottle neck at one system. Finally, the paper discusses how to detect the login and logout systems. A demo system based on the presented method is introduced to prove its validity.
{"title":"A dynamic data information management algorithm for multi-database system under WAN","authors":"X. Hong, Z. Yi, H. Jianming, Song Jing-yan","doi":"10.1109/IVS.2005.1505160","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505160","url":null,"abstract":"In intelligent transportation system (ITS), it is of great significance to share data among distributed and heterogeneous databases to realized system goal. In this paper a strategy of managing dynamic data information for multi-databases system in ITS under wide-area network (WAN) is proposed. Data directory is introduced to record data information of every database system, and is periodically updated by using alphabetical link for database structure set. Updating message is transferred peer-to-peer to avoid bottle neck at one system. Finally, the paper discusses how to detect the login and logout systems. A demo system based on the presented method is introduced to prove its validity.","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":"124376602","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.2005.1505074
F. Biral, M. Da Lio, E. Bertolazzi
This paper outlines a methodology for combining user's preferred driving style and safety margins into an ADAS's module for optimal reference maneuver computation. The module for optimal reference maneuver computation is part of the system decision planning chain, which links scenario interpretation to warning intervention strategies. The module objective is the computation of a reference maneuver and produce a measure of the related risk by solving an optimal control problem. In this case, the optimal control problem consists in finding the control functions that minimize the integral of a given penalty function over a planning distance subject to a set of constraints. The penalty function is the mean to implement the safe maneuver concept, which has to comply with three top-level requirements: safety-margins, user acceptance and mobility. In the present work only the safe-speed functionality is addressed and a new penalty function formulation is proposed in order to include both safety criteria and preferred driving style. In this paper it is shown that each user's personal driving style can be characterized through a small set of parameters from the analysis of car longitudinal and lateral accelerations that can be easily used in optimal control formulation.
{"title":"Combining safety margins and user preferences into a driving criterion for optimal control-based computation of reference maneuvers for an ADAS of the next generation","authors":"F. Biral, M. Da Lio, E. Bertolazzi","doi":"10.1109/IVS.2005.1505074","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505074","url":null,"abstract":"This paper outlines a methodology for combining user's preferred driving style and safety margins into an ADAS's module for optimal reference maneuver computation. The module for optimal reference maneuver computation is part of the system decision planning chain, which links scenario interpretation to warning intervention strategies. The module objective is the computation of a reference maneuver and produce a measure of the related risk by solving an optimal control problem. In this case, the optimal control problem consists in finding the control functions that minimize the integral of a given penalty function over a planning distance subject to a set of constraints. The penalty function is the mean to implement the safe maneuver concept, which has to comply with three top-level requirements: safety-margins, user acceptance and mobility. In the present work only the safe-speed functionality is addressed and a new penalty function formulation is proposed in order to include both safety criteria and preferred driving style. In this paper it is shown that each user's personal driving style can be characterized through a small set of parameters from the analysis of car longitudinal and lateral accelerations that can be easily used in optimal control formulation.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"90 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":"124401833","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.2005.1505120
A. Benmimoun, J. Chen, D. Neunzig, T. Suzuki, Y. Kato
The approach of communication-based intersection assistance is described. Different technology scenarios were analyzed in a realistic traffic simulator to cover a wide time horizon and a wide area of system complexity. The results regarding the specification of the necessary communication technology are proposed. Additionally the different technology scenarios are assessed regarding to the expected user acceptance and their effect on traffic safety. The most important parameter for the reduction of intersection accidents is the equipment rate with communication-based intersection assistant systems. The starting point of the technology concepts is today's available communication technology. -Based on the presented simulation study two technology concepts for communication based intersection assistance are recommended.
{"title":"Communication-based intersection assistance","authors":"A. Benmimoun, J. Chen, D. Neunzig, T. Suzuki, Y. Kato","doi":"10.1109/IVS.2005.1505120","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505120","url":null,"abstract":"The approach of communication-based intersection assistance is described. Different technology scenarios were analyzed in a realistic traffic simulator to cover a wide time horizon and a wide area of system complexity. The results regarding the specification of the necessary communication technology are proposed. Additionally the different technology scenarios are assessed regarding to the expected user acceptance and their effect on traffic safety. The most important parameter for the reduction of intersection accidents is the equipment rate with communication-based intersection assistant systems. The starting point of the technology concepts is today's available communication technology. -Based on the presented simulation study two technology concepts for communication based intersection assistance are recommended.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"5 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":"127566564","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.2005.1505072
M. Bertozzi, A. Broggi, A. Lasagni, M. Rose
This paper describes an approach for pedestrian detection in stereo infrared images. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations. It is based on the localization and distance estimation of warm areas in the scene; the algorithm groups areas with similar position and considers only results with specific size and aspect ratio. A final validation process, based on the head shape's morphological and thermal characteristics, is used to build the list of potential pedestrian appearing in the scene. Neither temporal correlation, nor motion cues are used in this processing.
{"title":"Infrared stereo vision-based pedestrian detection","authors":"M. Bertozzi, A. Broggi, A. Lasagni, M. Rose","doi":"10.1109/IVS.2005.1505072","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505072","url":null,"abstract":"This paper describes an approach for pedestrian detection in stereo infrared images. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations. It is based on the localization and distance estimation of warm areas in the scene; the algorithm groups areas with similar position and considers only results with specific size and aspect ratio. A final validation process, based on the head shape's morphological and thermal characteristics, is used to build the list of potential pedestrian appearing in the scene. Neither temporal correlation, nor motion cues are used in this processing.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"65 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":"133763736","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.2005.1505161
S. Krotosky, S.Y. Cheng, M. Trivedi
A real-time stereo-based head detection algorithm is presented and evaluated as an occupant posture analysis system for "smart" airbag deployment. The algorithm uses several constraints to limit the number of head ellipse "candidates" found in the image. These constraints are based on shape, size and depth of the occupant's head. Results of ground truth experiments show that the head detection can accurately estimate the three-dimensional location of the occupant head. Extended experiments illustrate the robustness of the algorithm to poor lighting conditions, to occlusion, and to the presence of other competing head-like objects in the scene.
{"title":"Real-time stereo-based head detection using size, shape and disparity constraints","authors":"S. Krotosky, S.Y. Cheng, M. Trivedi","doi":"10.1109/IVS.2005.1505161","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505161","url":null,"abstract":"A real-time stereo-based head detection algorithm is presented and evaluated as an occupant posture analysis system for \"smart\" airbag deployment. The algorithm uses several constraints to limit the number of head ellipse \"candidates\" found in the image. These constraints are based on shape, size and depth of the occupant's head. Results of ground truth experiments show that the head detection can accurately estimate the three-dimensional location of the occupant head. Extended experiments illustrate the robustness of the algorithm to poor lighting conditions, to occlusion, and to the presence of other competing head-like objects in the scene.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"39 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":"128328456","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.2005.1505212
He-Sheng Zhang, Yi Zhang, D. Yao, Dongcheng Hu
Urban transportation system is a distributed, man-involved and time-variable complex system. So the traffic state analysis is important because it can provide, in a real time way, global view of traffic state in the level of road network, which is very clearly useful in traffic control and route guidance. However, the traffic state analysis involves substantial data and multi-sensor data. So the architecture is important because it can define the mechanism for data management and state analysis. The provided architecture in this paper includes the global data management mechanism, the framework of area traffic state analysis, and the uniform traffic state variable. In global traffic data management, the CORBA-A mechanism combing CORBA, agent and XML for data management is provided, which can deal with the distributed heterogeneous dynamic and substantial traffic data. In the traffic state analysis, the layered framework is provided. The uniform state variable is also defined in the architecture, which is the basis of data fusion for GPS data, loop detector data, map data and other data. The case study shows the provided architecture feasible.
{"title":"An architecture of traffic state analysis based on multi-sensor fusion","authors":"He-Sheng Zhang, Yi Zhang, D. Yao, Dongcheng Hu","doi":"10.1109/IVS.2005.1505212","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505212","url":null,"abstract":"Urban transportation system is a distributed, man-involved and time-variable complex system. So the traffic state analysis is important because it can provide, in a real time way, global view of traffic state in the level of road network, which is very clearly useful in traffic control and route guidance. However, the traffic state analysis involves substantial data and multi-sensor data. So the architecture is important because it can define the mechanism for data management and state analysis. The provided architecture in this paper includes the global data management mechanism, the framework of area traffic state analysis, and the uniform traffic state variable. In global traffic data management, the CORBA-A mechanism combing CORBA, agent and XML for data management is provided, which can deal with the distributed heterogeneous dynamic and substantial traffic data. In the traffic state analysis, the layered framework is provided. The uniform state variable is also defined in the architecture, which is the basis of data fusion for GPS data, loop detector data, map data and other data. The case study shows the provided architecture feasible.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"397 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":"128591611","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.2005.1505201
Renaud Ott, M. Gutiérrez, D. Thalmann, F. Vexo, D. Thalmann, F. Vexo
We present the results of an evaluation study in the framework of user interfaces for teleoperation of vehicles. We developed a virtual cockpit with haptic feedback provided by a Haptic Workstation/spl trade/. Four alternative teleoperation interfaces were implemented. Each interface exploits different aspects of virtual reality and haptic technologies: realistic 3D virtual objects, haptic force-feedback, free arm gestures. A series of tests with multiple users were conducted in order to evaluate and identify the best interface in terms of efficiency and subjective user appreciation. This study provides insights on how to take the most out of current VR and haptic technologies in the framework of teleoperation.
{"title":"VR haptic interfaces for teleoperation: an evaluation study","authors":"Renaud Ott, M. Gutiérrez, D. Thalmann, F. Vexo, D. Thalmann, F. Vexo","doi":"10.1109/IVS.2005.1505201","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505201","url":null,"abstract":"We present the results of an evaluation study in the framework of user interfaces for teleoperation of vehicles. We developed a virtual cockpit with haptic feedback provided by a Haptic Workstation/spl trade/. Four alternative teleoperation interfaces were implemented. Each interface exploits different aspects of virtual reality and haptic technologies: realistic 3D virtual objects, haptic force-feedback, free arm gestures. A series of tests with multiple users were conducted in order to evaluate and identify the best interface in terms of efficiency and subjective user appreciation. This study provides insights on how to take the most out of current VR and haptic technologies in the framework of teleoperation.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"19 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":"134132755","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.2005.1505172
J. Kaszubiak, M. Tornow, R. Kuhn, B. Michaelis, C. Knoeppel
For autonomously acting robots and driver assistance systems powerful optical stereo sensor systems are required. Object positions and environmental conditions have to be acquired in real-time. In this paper an algorithm based on a hardware-software co-design is applied. A depth-map is generated with a hierarchical detection method. A depth-histogram is generated by using the density distribution of the disparity in the depth-map. It is used for object detection. The object clustering can be accomplished without calculation of 3D-points, due to the almost identical mapping of the objects over the whole distance, within the histogram. A lane detection is applied by using a Hough transform. The suitability at night and the detection of small objects like bikers is proven.
{"title":"Real-time vehicle and lane detection with embedded hardware","authors":"J. Kaszubiak, M. Tornow, R. Kuhn, B. Michaelis, C. Knoeppel","doi":"10.1109/IVS.2005.1505172","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505172","url":null,"abstract":"For autonomously acting robots and driver assistance systems powerful optical stereo sensor systems are required. Object positions and environmental conditions have to be acquired in real-time. In this paper an algorithm based on a hardware-software co-design is applied. A depth-map is generated with a hierarchical detection method. A depth-histogram is generated by using the density distribution of the disparity in the depth-map. It is used for object detection. The object clustering can be accomplished without calculation of 3D-points, due to the almost identical mapping of the objects over the whole distance, within the histogram. A lane detection is applied by using a Hough transform. The suitability at night and the detection of small objects like bikers is proven.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"186 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":"134218860","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.2005.1505154
Shinq-Jen Wu, H. Chiang, J. Perng, Tsu-Tian Lee, Chao-Jung Chen
In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN iTS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in automotive research and testing center (ARTC) and highway road.
{"title":"The automated lane-keeping design for an intelligent vehicle","authors":"Shinq-Jen Wu, H. Chiang, J. Perng, Tsu-Tian Lee, Chao-Jung Chen","doi":"10.1109/IVS.2005.1505154","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505154","url":null,"abstract":"In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN iTS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in automotive research and testing center (ARTC) and highway road.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"363 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":"134428910","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.2005.1505140
K. Dresner, P. Stone
Traffic congestion is one of the leading causes of lost productivity and decreased standard of living in urban settings. Recent advances in artificial intelligence suggest vehicle navigation by autonomous agents will be possible in the near future. In a previous paper, we proposed a reservation-based system for alleviating traffic congestion, specifically at intersections. This paper extends our prototype implementation in several ways with the aim of making it more implementable in the real world. In particular, we 1) add the ability of vehicles to turn, 2) enable them to accelerate while in the intersection, 3) give a better sensor model and communication-efficient heuristic to our driver agent, and 4) augment their interaction capabilities with a detailed protocol such that the vehicles do not need to know anything about the intersection control policy. The use of this protocol limits the interaction of the driver agent and the intersection manager to the extent that it is a reasonable approximation of reliable wireless communication. We then use this protocol to implement a new control policy: the stop sign. All three improvements are fully implemented and tested, and we present detailed empirical results validating their effectiveness.
{"title":"Turning the corner: improved intersection control for autonomous vehicles","authors":"K. Dresner, P. Stone","doi":"10.1109/IVS.2005.1505140","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505140","url":null,"abstract":"Traffic congestion is one of the leading causes of lost productivity and decreased standard of living in urban settings. Recent advances in artificial intelligence suggest vehicle navigation by autonomous agents will be possible in the near future. In a previous paper, we proposed a reservation-based system for alleviating traffic congestion, specifically at intersections. This paper extends our prototype implementation in several ways with the aim of making it more implementable in the real world. In particular, we 1) add the ability of vehicles to turn, 2) enable them to accelerate while in the intersection, 3) give a better sensor model and communication-efficient heuristic to our driver agent, and 4) augment their interaction capabilities with a detailed protocol such that the vehicles do not need to know anything about the intersection control policy. The use of this protocol limits the interaction of the driver agent and the intersection manager to the extent that it is a reasonable approximation of reliable wireless communication. We then use this protocol to implement a new control policy: the stop sign. All three improvements are fully implemented and tested, and we present detailed empirical results validating their effectiveness.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"78 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":"133982892","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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