Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505182
Jonathan Lee, Shin-Jie Lee, Shang-Pin Ma
As the complexity of the requirements for advanced traveler information systems (ATIS) continues to grow, the research towards better and faster development of ATIS is gaining increasing attentions. However, two issues on the delivery of services remain to be addressed: 1) how to quickly build a flexible ATIS to incorporate services that reside in the extant software; and 2) how to perform complex services on the devices of limited resources like on-board PCs. In this paper, we propose a service delivery mechanism based on Web services and agent technology to alleviate these issues. Based on the proposed mechanism, a flexible and extensible ATIS can be developed and its services can be delivered in a systematic manner.
{"title":"Deliver advanced traveler information services","authors":"Jonathan Lee, Shin-Jie Lee, Shang-Pin Ma","doi":"10.1109/IVS.2005.1505182","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505182","url":null,"abstract":"As the complexity of the requirements for advanced traveler information systems (ATIS) continues to grow, the research towards better and faster development of ATIS is gaining increasing attentions. However, two issues on the delivery of services remain to be addressed: 1) how to quickly build a flexible ATIS to incorporate services that reside in the extant software; and 2) how to perform complex services on the devices of limited resources like on-board PCs. In this paper, we propose a service delivery mechanism based on Web services and agent technology to alleviate these issues. Based on the proposed mechanism, a flexible and extensible ATIS can be developed and its services can be delivered in a systematic manner.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"221 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":"127813834","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.2005.1505206
Qunzhi Zhou, Feiyue Wang, L. Li
This paper investigates the use of four-wheel steering system (4WS) for the automatic vehicle control in the context of path tracking. The 4WS vehicle is assumed to be set up in a previously studied look-down reference system with sensors installed on the vehicle's front and rear bumpers to measure its lateral displacements from the reference path. Past research in the path tracking control have showed the difficulties to design a controller that is robust against the intensive vehicle modeling uncertainties and disturbances. In this paper, noticed the new dynamic characteristics of 4WS vehicles, we firstly found a new robust sliding mode controller for a class of linear systems and then apply it to the path tracking problem of 4WS vehicles. Both theoretical analysis and simulations show that with the proposed controller, the system's tracking accuracy, stability and robustness against the parameter variances and external disturbances, especially the changes of road friction condition, longitudinal velocity and crosswind forces, are identically guaranteed.
{"title":"Robust sliding mode control of 4WS vehicles for automatic path tracking","authors":"Qunzhi Zhou, Feiyue Wang, L. Li","doi":"10.1109/IVS.2005.1505206","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505206","url":null,"abstract":"This paper investigates the use of four-wheel steering system (4WS) for the automatic vehicle control in the context of path tracking. The 4WS vehicle is assumed to be set up in a previously studied look-down reference system with sensors installed on the vehicle's front and rear bumpers to measure its lateral displacements from the reference path. Past research in the path tracking control have showed the difficulties to design a controller that is robust against the intensive vehicle modeling uncertainties and disturbances. In this paper, noticed the new dynamic characteristics of 4WS vehicles, we firstly found a new robust sliding mode controller for a class of linear systems and then apply it to the path tracking problem of 4WS vehicles. Both theoretical analysis and simulations show that with the proposed controller, the system's tracking accuracy, stability and robustness against the parameter variances and external disturbances, especially the changes of road friction condition, longitudinal velocity and crosswind forces, are identically guaranteed.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"57 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":"115979703","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.2005.1505208
Yanfei Liu, Zhaohui Wu
This paper demonstrates a novel car-following model based on driver or passengers' comfort. As we know, rapid deceleration during emergency brake will make passengers feel uncomfortable, according to the relationship between brake acceleration and people's comfortable feeling, the comfortable model of car following is being setup. The model calculates the following car's acceleration by measuring the distance between the following car and the preceding car, and the velocity of the following car, to keep drive and passengers feel comfortable by controlling the car's acceleration. The friction coefficient of the car and road surface are also considered, the experiments show that the model fits the real cases very well.
{"title":"A smart car control model for driver's comfort of car following","authors":"Yanfei Liu, Zhaohui Wu","doi":"10.1109/IVS.2005.1505208","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505208","url":null,"abstract":"This paper demonstrates a novel car-following model based on driver or passengers' comfort. As we know, rapid deceleration during emergency brake will make passengers feel uncomfortable, according to the relationship between brake acceleration and people's comfortable feeling, the comfortable model of car following is being setup. The model calculates the following car's acceleration by measuring the distance between the following car and the preceding car, and the velocity of the following car, to keep drive and passengers feel comfortable by controlling the car's acceleration. The friction coefficient of the car and road surface are also considered, the experiments show that the model fits the real cases very well.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"28 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":"126902250","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.2005.1505103
Hiroyuki Kurihata, Tomokazu Takahashi, I. Ide, Y. Mekada, H. Murase, Y. Tamatsu, T. Miyahara
We propose a weather recognition method from in-vehicle camera images that uses a subspace method to judge rainy weather by detecting raindrops on the windshield. "Eigendrops" represent the principal components extracted from raindrop images in the learning stage. Then the method detects raindrops by template matching. In experiments using actual video sequences, our method showed good detection ability of raindrops and promising results for rainfall judgment from detection results.
{"title":"Rainy weather recognition from in-vehicle camera images for driver assistance","authors":"Hiroyuki Kurihata, Tomokazu Takahashi, I. Ide, Y. Mekada, H. Murase, Y. Tamatsu, T. Miyahara","doi":"10.1109/IVS.2005.1505103","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505103","url":null,"abstract":"We propose a weather recognition method from in-vehicle camera images that uses a subspace method to judge rainy weather by detecting raindrops on the windshield. \"Eigendrops\" represent the principal components extracted from raindrop images in the learning stage. Then the method detects raindrops by template matching. In experiments using actual video sequences, our method showed good detection ability of raindrops and promising results for rainfall judgment from detection results.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"14 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":"123508196","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.2005.1505092
K. Fuerstenberg, J. Scholz
This paper presents a prototype system for the early detection of a car-to-pedestrian accident that has been tested in a passenger car. For environment sensing a high resolution multilayer-laserscanner with a horizontal field of view of about 120 degrees in front of the vehicle is used, which covers more than 70% of all car-to-pedestrian accidents. Under consideration of a moving pedestrian (94%) 2/3 of all car-to-pedestrian accidents are addressed with the presented pedestrian protection approach. A region of no escape (RONE) is introduced. This RONE describes an area in front of the car where the car-to-pedestrian accident is unavoidable, if the pedestrian is detected inside this area.
{"title":"Reliable pedestrian protection using laserscanners","authors":"K. Fuerstenberg, J. Scholz","doi":"10.1109/IVS.2005.1505092","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505092","url":null,"abstract":"This paper presents a prototype system for the early detection of a car-to-pedestrian accident that has been tested in a passenger car. For environment sensing a high resolution multilayer-laserscanner with a horizontal field of view of about 120 degrees in front of the vehicle is used, which covers more than 70% of all car-to-pedestrian accidents. Under consideration of a moving pedestrian (94%) 2/3 of all car-to-pedestrian accidents are addressed with the presented pedestrian protection approach. A region of no escape (RONE) is introduced. This RONE describes an area in front of the car where the car-to-pedestrian accident is unavoidable, if the pedestrian is detected inside this area.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"50 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":"134271148","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.2005.1505158
M. Wille, H. Richter
Carring is a cost-effective, reliable, real-time local area network for cars that is based on a ring topology. Applications of Carring are mechatronic systems in cars, but it is also applicable to general LANs. This paper introduces different medium access methods for Carring. Carring applies synchronous time slots for medium access together with an extension algorithm that allows reallocating unused time slots, thus achieving maximum bandwidth utilization of the ring. Another way of efficient bandwidth allocation in Carring deals with the usage of release algorithms. Furthermore, the fibre distributed data interface (FDDI) is described in order to compare it with Carring.
{"title":"Carring's medium access methods in comparison to FDDI","authors":"M. Wille, H. Richter","doi":"10.1109/IVS.2005.1505158","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505158","url":null,"abstract":"Carring is a cost-effective, reliable, real-time local area network for cars that is based on a ring topology. Applications of Carring are mechatronic systems in cars, but it is also applicable to general LANs. This paper introduces different medium access methods for Carring. Carring applies synchronous time slots for medium access together with an extension algorithm that allows reallocating unused time slots, thus achieving maximum bandwidth utilization of the ring. Another way of efficient bandwidth allocation in Carring deals with the usage of release algorithms. Furthermore, the fibre distributed data interface (FDDI) is described in order to compare it with Carring.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"13 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":"122340555","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.2005.1505185
S. Ieng, J. Vrignon, D. Gruyer, D. Aubert
This paper deals with a new multi-lane markings detection and tracking system. The proposed system uses multiple cameras positioned differently in order to reduce different kind of perturbations, such as light sensitivity. The algorithm combines robust Kalman filtering and association based on belief theory to achieve multi-object tracking. Thus, the system provides the ability to track lane markings without any assumption on their number. It also proposes a new lane change management. To study this new system, the algorithm has been implemented on an embedded computer equipped with multiple cameras. We present experimental results obtained on a track. These results allow us to show important advantages of this new system and its robustness by comparing it to a classical system.
{"title":"A new multi-lanes detection using multi-camera for robust vehicle location","authors":"S. Ieng, J. Vrignon, D. Gruyer, D. Aubert","doi":"10.1109/IVS.2005.1505185","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505185","url":null,"abstract":"This paper deals with a new multi-lane markings detection and tracking system. The proposed system uses multiple cameras positioned differently in order to reduce different kind of perturbations, such as light sensitivity. The algorithm combines robust Kalman filtering and association based on belief theory to achieve multi-object tracking. Thus, the system provides the ability to track lane markings without any assumption on their number. It also proposes a new lane change management. To study this new system, the algorithm has been implemented on an embedded computer equipped with multiple cameras. We present experimental results obtained on a track. These results allow us to show important advantages of this new system and its robustness by comparing it to a classical system.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"29 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":"125964541","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.2005.1505071
B. Fardi, U. Schuenert, G. Wanielik
This work deals with the detection and tracking of pedestrians. The focus of the investigations was on methods, which allow a precise and detailed description of both significant features of pedestrians: shape and motion. Since the practical employment of such methods requires a good initialization and tracking, a multi sensor system was developed consisting of a far infrared camera, a laser scanning device and ego motion sensors. To handle the combination of the information of the different sensors a Kalman filter based data fusion is used. Arranging a set of Kalman filters in parallel, a multi sensor/multi target tracking system was created. The system structure combines a straightforward with a backward loop methodology to combine fast initiation functions with more affordable verification functions. Therefore formerly known semiautomatic image processing methods work fully automatically in the system. The analysis of the estimated optical flow regarding the typical human motion as well as the analysis of shape parameters using active contour models is performed. The multi sensor/multi target tracking system is installed on a test vehicle to obtain practical results, which are also discussed in this article.
{"title":"Shape and motion-based pedestrian detection in infrared images: a multi sensor approach","authors":"B. Fardi, U. Schuenert, G. Wanielik","doi":"10.1109/IVS.2005.1505071","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505071","url":null,"abstract":"This work deals with the detection and tracking of pedestrians. The focus of the investigations was on methods, which allow a precise and detailed description of both significant features of pedestrians: shape and motion. Since the practical employment of such methods requires a good initialization and tracking, a multi sensor system was developed consisting of a far infrared camera, a laser scanning device and ego motion sensors. To handle the combination of the information of the different sensors a Kalman filter based data fusion is used. Arranging a set of Kalman filters in parallel, a multi sensor/multi target tracking system was created. The system structure combines a straightforward with a backward loop methodology to combine fast initiation functions with more affordable verification functions. Therefore formerly known semiautomatic image processing methods work fully automatically in the system. The analysis of the estimated optical flow regarding the typical human motion as well as the analysis of shape parameters using active contour models is performed. The multi sensor/multi target tracking system is installed on a test vehicle to obtain practical results, which are also discussed in this article.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"58 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":"130015742","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.2005.1505200
P. Lombardi, M. Zanin, S. Messelodi
This paper presents a method for road detection and obstacle detection entirely based on stereovision. The ground plane is estimated online by least square fitting of disparity data. This operation allows deleting road features for obstacle detection, estimating directly camera roll and pitch, and deriving some clues on road-surface image regions. A model-based algorithm employing only disparity information is demonstrated to be able to segment the whole road surface without knowledge of infrastructures and features like lane markings. This helps navigation in suburban and country-road environments, and recovery from critical failure of lane-markings trackers.
{"title":"Unified stereovision for ground, road, and obstacle detection","authors":"P. Lombardi, M. Zanin, S. Messelodi","doi":"10.1109/IVS.2005.1505200","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505200","url":null,"abstract":"This paper presents a method for road detection and obstacle detection entirely based on stereovision. The ground plane is estimated online by least square fitting of disparity data. This operation allows deleting road features for obstacle detection, estimating directly camera roll and pitch, and deriving some clues on road-surface image regions. A model-based algorithm employing only disparity information is demonstrated to be able to segment the whole road surface without knowledge of infrastructures and features like lane markings. This helps navigation in suburban and country-road environments, and recovery from critical failure of lane-markings trackers.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"32 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":"129473765","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.2005.1505155
Hao-Yuan Chang, Chih-Ming Fu, Chung-Lin Huang
This paper proposes a preceding vehicle tracking and detection system which includes road area finding, vehicle footprint extraction, and vehicle bounding box extraction. Our method detects the footprint of the vehicle inside the road area to avoid the false detection of delineators. By extracting the preceding vehicle, we effectively track the vehicles, and detect the passing car and distant car. Then, we also propose the distance measure formula. Through camera calibration process and vanishing point detection process, we can calculate the distance to the preceding vehicle accurately.
{"title":"Real-time vision-based preceding vehicle tracking and recognition","authors":"Hao-Yuan Chang, Chih-Ming Fu, Chung-Lin Huang","doi":"10.1109/IVS.2005.1505155","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505155","url":null,"abstract":"This paper proposes a preceding vehicle tracking and detection system which includes road area finding, vehicle footprint extraction, and vehicle bounding box extraction. Our method detects the footprint of the vehicle inside the road area to avoid the false detection of delineators. By extracting the preceding vehicle, we effectively track the vehicles, and detect the passing car and distant car. Then, we also propose the distance measure formula. Through camera calibration process and vanishing point detection process, we can calculate the distance to the preceding vehicle accurately.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"18 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":"117072866","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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