Pub Date : 2009-06-03DOI: 10.1109/IVS.2009.5164367
Xudong Wu, S. Zuo, L. Lei, Yang Xian-wu, H. Hua
Because of self-oscillation of tire, Polygonal Wear occurred on the tire which often rolled on freeways or highways. With the intention of researching suspension's effect on the self-excited vibration of tire, according to the characters of polygonal wear, the twist beam suspension of car PassatB5 was simplified to proper mechanical model in the method of FEA. Then, making the coupling of lateral friction self-excited vibration of tire and draw-wrest operation of lengthways pendulum arm taking the previously built friction coefficient model into account which could cause the self-excited vibration of tire, a three degree-of-freedom dynamic modeling of twist beam suspension-tire system was built based on the self-oscillations of tire.
{"title":"A three degree-of-freedom dynamic modeling of twist beam suspension-tire system","authors":"Xudong Wu, S. Zuo, L. Lei, Yang Xian-wu, H. Hua","doi":"10.1109/IVS.2009.5164367","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164367","url":null,"abstract":"Because of self-oscillation of tire, Polygonal Wear occurred on the tire which often rolled on freeways or highways. With the intention of researching suspension's effect on the self-excited vibration of tire, according to the characters of polygonal wear, the twist beam suspension of car PassatB5 was simplified to proper mechanical model in the method of FEA. Then, making the coupling of lateral friction self-excited vibration of tire and draw-wrest operation of lengthways pendulum arm taking the previously built friction coefficient model into account which could cause the self-excited vibration of tire, a three degree-of-freedom dynamic modeling of twist beam suspension-tire system was built based on the self-oscillations of tire.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129526540","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164289
Björn Barrois, Stela Hristova, C. Wohler, F. Kummert, Christoph Hermes
This study introduces an approach to three-dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast to classical ICP optimisation a polar distance metric is used which especially takes into account the error distribution of the stereo measurement process. The tracking approach is based on tracking-by-detection such that no temporal filtering is used. The method is evaluated on seven different real-world sequences, where different stereo algorithms, baseline distances, distance metrics, and optimisation algorithms are examined. The results show that the proposed polar distance metric yields a higher accuracy for yaw angle estimation of vehicles than the common Euclidean distance metric, especially when using pixel-accurate stereo points.
{"title":"3D pose estimation of vehicles using a stereo camera","authors":"Björn Barrois, Stela Hristova, C. Wohler, F. Kummert, Christoph Hermes","doi":"10.1109/IVS.2009.5164289","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164289","url":null,"abstract":"This study introduces an approach to three-dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast to classical ICP optimisation a polar distance metric is used which especially takes into account the error distribution of the stereo measurement process. The tracking approach is based on tracking-by-detection such that no temporal filtering is used. The method is evaluated on seven different real-world sequences, where different stereo algorithms, baseline distances, distance metrics, and optimisation algorithms are examined. The results show that the proposed polar distance metric yields a higher accuracy for yaw angle estimation of vehicles than the common Euclidean distance metric, especially when using pixel-accurate stereo points.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129645826","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164333
Florian Obermeier, S. Hawe, Michaela Zwick, K. Diepold
In absence of a truly reliable confidence measure for optical flow, this paper points out a few methods, how optical flow estimation results can be tested for reliability and accuracy. We are especially interested in how to make use of complementary information in the visible and infrared spectrum in a multi-sensor environment.
{"title":"Optical flow reliability measures and their applicability for multi-sensor fusion","authors":"Florian Obermeier, S. Hawe, Michaela Zwick, K. Diepold","doi":"10.1109/IVS.2009.5164333","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164333","url":null,"abstract":"In absence of a truly reliable confidence measure for optical flow, this paper points out a few methods, how optical flow estimation results can be tested for reliability and accuracy. We are especially interested in how to make use of complementary information in the visible and infrared spectrum in a multi-sensor environment.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127121013","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164382
Xunhe Yin, Qingquan Cui, Xianglong Meng, Yongkang Xiao, Y. Song
Active queue management (AQM) at routers can effectively control the queue length while keeping high throughput of routers. In this paper, a new AQM algorithm called Hang algorithm based on a modified Smith predictor is proposed. Theoretic analysis and extensive simulation shows that the developed control scheme is effective in dealing with transmission delay and other uncertainties. Comparison with traditional PI control and PI-Smith Predictor control is also conducted via NS2 simulation, and the results confirm the effectiveness of the proposed method in accounting for load disturbance and delay variation.
{"title":"An active queue management (AQM) scheme based on modified Smith Predictor","authors":"Xunhe Yin, Qingquan Cui, Xianglong Meng, Yongkang Xiao, Y. Song","doi":"10.1109/IVS.2009.5164382","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164382","url":null,"abstract":"Active queue management (AQM) at routers can effectively control the queue length while keeping high throughput of routers. In this paper, a new AQM algorithm called Hang algorithm based on a modified Smith predictor is proposed. Theoretic analysis and extensive simulation shows that the developed control scheme is effective in dealing with transmission delay and other uncertainties. Comparison with traditional PI control and PI-Smith Predictor control is also conducted via NS2 simulation, and the results confirm the effectiveness of the proposed method in accounting for load disturbance and delay variation.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129967478","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164443
Wenjie Shu, Ping Wang, Aihuang Guo, Xinhong Wang, Fuqiang Liu
It has been a big challenge to set the position update interval that can meet different network densities and application needs. We present Neighbor-Awareness position Update (NAU) to set the position update interval dynamically, according to its neighbors' number and position. Beacon-assist Geographic Forwarding (BGF) strategy enables nodes to forward packets by considering their neighbors' beacon interval in neighbor list. The proposed algorithm (called GPSR-N&B) represents a modification of well-known GPSR. The results confirm that our scheme reduces beacon overhead and MAC layer collisions in different densities and velocities of vehicular ad hoc network, while ensuring the Successful Date Rate (SDR) performances well.
{"title":"Enhanced GPSR using Neighbor-Awareness position Update and Beacon-assist Geographic Forwarding in vehicular ad hoc networks","authors":"Wenjie Shu, Ping Wang, Aihuang Guo, Xinhong Wang, Fuqiang Liu","doi":"10.1109/IVS.2009.5164443","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164443","url":null,"abstract":"It has been a big challenge to set the position update interval that can meet different network densities and application needs. We present Neighbor-Awareness position Update (NAU) to set the position update interval dynamically, according to its neighbors' number and position. Beacon-assist Geographic Forwarding (BGF) strategy enables nodes to forward packets by considering their neighbors' beacon interval in neighbor list. The proposed algorithm (called GPSR-N&B) represents a modification of well-known GPSR. The results confirm that our scheme reduces beacon overhead and MAC layer collisions in different densities and velocities of vehicular ad hoc network, while ensuring the Successful Date Rate (SDR) performances well.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"52 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130650280","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164330
T. T. Son, S. Mita
This paper presents a novel method of car detection by using the Adaboost algorithm, which is enhanced by the Quadratic Programming for feature extraction. In this paper, car is divided into many relevant features through their appearances in training samples such as wheel and window. We crop features of object in training images and utilize them for the Adaboost training. The results of the Adaboost training are many sets of weak classifiers corresponding to the relevant features. The Quadratic Programming is applied to set up the priority order of weak classifiers when they are combined together by their relevant positions for detection. In other words, we utilize the Adaboost as a kernel function for generating the stronger classifier, which is a linear combination of weak classifiers selected by the Quadratic Programming. The proposed method can provide a high accuracy of object detection by using a few hundred samples for training the Adaboost.
{"title":"Car detection using multi-feature selection for varying poses","authors":"T. T. Son, S. Mita","doi":"10.1109/IVS.2009.5164330","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164330","url":null,"abstract":"This paper presents a novel method of car detection by using the Adaboost algorithm, which is enhanced by the Quadratic Programming for feature extraction. In this paper, car is divided into many relevant features through their appearances in training samples such as wheel and window. We crop features of object in training images and utilize them for the Adaboost training. The results of the Adaboost training are many sets of weak classifiers corresponding to the relevant features. The Quadratic Programming is applied to set up the priority order of weak classifiers when they are combined together by their relevant positions for detection. In other words, we utilize the Adaboost as a kernel function for generating the stronger classifier, which is a linear combination of weak classifiers selected by the Quadratic Programming. The proposed method can provide a high accuracy of object detection by using a few hundred samples for training the Adaboost.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132775629","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164252
R. Schubert, G. Wanielik, K. Schulze
The increasing complexity of Advanced Driver Assistance Systems (ADAS) requires new design strategies in order to provide the necessary reliability for safety-related applications. In this paper, the connection of several perception modules to a modular ADAS is proposed. The benefits of such an approach are analyzed on the example of a vision and radar based vehicle & lane detection system. In particular, the effect of algorithmic synergies between the modules is investigated. The performance of the modular perception system is demonstrated using real-world data from the concept vehicle Carai. The results show that the performance and reliability of this approach surpasses the properties of the single modules.
{"title":"An analysis of synergy effects in an omnidirectional modular perception system","authors":"R. Schubert, G. Wanielik, K. Schulze","doi":"10.1109/IVS.2009.5164252","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164252","url":null,"abstract":"The increasing complexity of Advanced Driver Assistance Systems (ADAS) requires new design strategies in order to provide the necessary reliability for safety-related applications. In this paper, the connection of several perception modules to a modular ADAS is proposed. The benefits of such an approach are analyzed on the example of a vision and radar based vehicle & lane detection system. In particular, the effect of algorithmic synergies between the modules is investigated. The performance of the modular perception system is demonstrated using real-world data from the concept vehicle Carai. The results show that the performance and reliability of this approach surpasses the properties of the single modules.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":" 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132010865","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164434
André Groll, C. Ruland
Because of the increasing number of electronic components, the automotive manufacturers introduced data bus systems to decrease the number of discrete lines. Inside modern vehicles there are several bus systems that are used for communication to provide many safety-relevant functions with direct impact to the vehicle's behaviour. Due to missing security services, these in-car networks are unprotected against malicious attacks. Exemplarily focussing CAN, this article explains that the missing of authenticity and confidentiality are the most important issues concerning security risks for in-car communication. A flexible and adaptive solution using trusted communication groups is presented that enables confidential communication between components of a vehicle and guarantees that only authentic controllers - holding a certificate signed by the manufacturer - are able to be part of these closed communication groups.
{"title":"Secure and authentic communication on existing in-vehicle networks","authors":"André Groll, C. Ruland","doi":"10.1109/IVS.2009.5164434","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164434","url":null,"abstract":"Because of the increasing number of electronic components, the automotive manufacturers introduced data bus systems to decrease the number of discrete lines. Inside modern vehicles there are several bus systems that are used for communication to provide many safety-relevant functions with direct impact to the vehicle's behaviour. Due to missing security services, these in-car networks are unprotected against malicious attacks. Exemplarily focussing CAN, this article explains that the missing of authenticity and confidentiality are the most important issues concerning security risks for in-car communication. A flexible and adaptive solution using trusted communication groups is presented that enables confidential communication between components of a vehicle and guarantees that only authentic controllers - holding a certificate signed by the manufacturer - are able to be part of these closed communication groups.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130482061","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164255
Y. Lim, Chung-Hee Lee, Soon Kwon, Jong-hun Lee
In this paper, we present a method to estimate obstacles' position and track multiple obstacles on the road based on a stereo vision system. A stereo vision system can measure distance to an obstacle using disparity. However, this system has several problems such as sampling error, geometric problems due to the installation of a stereo camera, and image distortion in the calibration and rectification processes that cause deterioration in accuracy and reliability. We utilize a multi-layer perceptron (MLP) method to correct mean error, and also a strong tracking interacting multiple model (ST-IMM) Kalman filter is proposed to minimize the error variance. The ST-IMM has robustness for maneuver and non-stationary error variance. ST-IMM has an advantage that one model can complement another model's shortcomings by using several sub-models. A simple data association method based on nearest neighborhood filtering is proposed to track multiple obstacles. The experiment results show that our algorithms can estimate the target's position and track multiple objects within about 4% distance error in range of 10 to 50 m, even when the target vehicle maneuvers rapidly.
{"title":"Position estimation and multiple obstacles tracking method based on stereo vision system","authors":"Y. Lim, Chung-Hee Lee, Soon Kwon, Jong-hun Lee","doi":"10.1109/IVS.2009.5164255","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164255","url":null,"abstract":"In this paper, we present a method to estimate obstacles' position and track multiple obstacles on the road based on a stereo vision system. A stereo vision system can measure distance to an obstacle using disparity. However, this system has several problems such as sampling error, geometric problems due to the installation of a stereo camera, and image distortion in the calibration and rectification processes that cause deterioration in accuracy and reliability. We utilize a multi-layer perceptron (MLP) method to correct mean error, and also a strong tracking interacting multiple model (ST-IMM) Kalman filter is proposed to minimize the error variance. The ST-IMM has robustness for maneuver and non-stationary error variance. ST-IMM has an advantage that one model can complement another model's shortcomings by using several sub-models. A simple data association method based on nearest neighborhood filtering is proposed to track multiple obstacles. The experiment results show that our algorithms can estimate the target's position and track multiple objects within about 4% distance error in range of 10 to 50 m, even when the target vehicle maneuvers rapidly.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"311 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116108864","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164309
Hao Zhu, Guangzhe Zhao, Jianhong Wang
The paper describes such a prototype of a system that can make the urban navigation robust when GPS signal is lost. By making a database of images which usually extracted from texture of building façade and match to the geo-info point in GIS, the system can calculate the pose of a query. Our method is based on SURF (Speed-Up Robust Feature) that can recognize matching facades in two views even if there is change of viewpoint and illumination. In addition Homograph is introduced to estimate the pose of viewpoint. Also, a discussion of this application in urban navigation and a conclusion with the weakness of the system are given in the final.
{"title":"Image based assistant localization in urban navigation","authors":"Hao Zhu, Guangzhe Zhao, Jianhong Wang","doi":"10.1109/IVS.2009.5164309","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164309","url":null,"abstract":"The paper describes such a prototype of a system that can make the urban navigation robust when GPS signal is lost. By making a database of images which usually extracted from texture of building façade and match to the geo-info point in GIS, the system can calculate the pose of a query. Our method is based on SURF (Speed-Up Robust Feature) that can recognize matching facades in two views even if there is change of viewpoint and illumination. In addition Homograph is introduced to estimate the pose of viewpoint. Also, a discussion of this application in urban navigation and a conclusion with the weakness of the system are given in the final.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116218814","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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