Pub Date : 2009-06-03DOI: 10.1109/IVS.2009.5164272
Zhang Yu, Shi Zhong-ke, Wang Run-quan
This paper describes a novel fast mean shift algorithm based on an accelerated iteration strategy. This new method focuses on solving the problem of high calculation complexity when high data dimension or large data sets are involved in mean shift. By predicting the mean shift vector, improved method reduces the number of iteration and speed up the calculation. The application of traffic image filtering is provided also. Experiment results of traffic image filtering demonstrate the efficiency of the fast mean shift algorithm.
{"title":"Fast mean shift based traffic image filtering algorithm","authors":"Zhang Yu, Shi Zhong-ke, Wang Run-quan","doi":"10.1109/IVS.2009.5164272","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164272","url":null,"abstract":"This paper describes a novel fast mean shift algorithm based on an accelerated iteration strategy. This new method focuses on solving the problem of high calculation complexity when high data dimension or large data sets are involved in mean shift. By predicting the mean shift vector, improved method reduces the number of iteration and speed up the calculation. The application of traffic image filtering is provided also. Experiment results of traffic image filtering demonstrate the efficiency of the fast mean shift algorithm.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"25 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":"121569947","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}
With the advantages of high thermal efficiency and extra low NOx and soot emissions, homogeneous charge compression ignition (HCCI) combustion has become a promising combustion method. Comparing with the SI engine or diesel engine, it is hardly to control combustion phase and combustion period on a HCCI engine directly. Hence, sensing of combustion phase and combustion state is very important for HCCI engine control. In this paper a method of detecting ion current signal as the feedback of combustion characters was discussed through a series of experiments on a gasoline HCCI engine. When the engine operated in pure HCCI mode, the ion current was measured and several parameters were abstracted from ion current waveform in order to investigate the relationship between the ion current and the combustion characters. Simultaneously, the in-cylinder pressure was measured and the rate of heat release was calculated. Experiment results show that there is a strong correction between HCCI combustion phasing and ion current signal. On the other hand, the relationship between ion current and combustion phasing was also discussed when the engine operated under spark assisted HCCI mode. Thus through a set of parameter definition the influence of ignition coil discharge to ion current also be researched.
{"title":"Method of ion current detection for HCCI combustion on SI/HCCI dual mode engine","authors":"Guangyu Dong, Zhijun Wu, Liguang Li, Fafa Liu, Yingnan Guo","doi":"10.1109/IVS.2009.5164456","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164456","url":null,"abstract":"With the advantages of high thermal efficiency and extra low NOx and soot emissions, homogeneous charge compression ignition (HCCI) combustion has become a promising combustion method. Comparing with the SI engine or diesel engine, it is hardly to control combustion phase and combustion period on a HCCI engine directly. Hence, sensing of combustion phase and combustion state is very important for HCCI engine control. In this paper a method of detecting ion current signal as the feedback of combustion characters was discussed through a series of experiments on a gasoline HCCI engine. When the engine operated in pure HCCI mode, the ion current was measured and several parameters were abstracted from ion current waveform in order to investigate the relationship between the ion current and the combustion characters. Simultaneously, the in-cylinder pressure was measured and the rate of heat release was calculated. Experiment results show that there is a strong correction between HCCI combustion phasing and ion current signal. On the other hand, the relationship between ion current and combustion phasing was also discussed when the engine operated under spark assisted HCCI mode. Thus through a set of parameter definition the influence of ignition coil discharge to ion current also be researched.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"392 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":"116648698","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.2009.5164392
P. Karthikeyan, S. Subramanian
The brake system is the primary system in an automobile which ensures its safety on the road. The ideal brake system should operate with the least effort from the driver and should stop the vehicle within the minimum possible distance. This paper deals with the air brake system which is widely used in commercial vehicles such as trucks, buses and tractor-trailers. One of the important parameters which affect the stopping distance of a vehicle is the brake response time. The work presented focuses on the development of an electropneumatic brake which would decrease the response time of the air brake system thereby providing a reduced stopping distance. A mathematical model that correlates the pressure transients in the brake chamber to the voltage input provided to the electropneumatic brake has been developed. The efficacy of this model is tested by comparing its results with experimental data obtained from various test runs.
{"title":"Development and modelling of an electropneumatic brake system","authors":"P. Karthikeyan, S. Subramanian","doi":"10.1109/IVS.2009.5164392","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164392","url":null,"abstract":"The brake system is the primary system in an automobile which ensures its safety on the road. The ideal brake system should operate with the least effort from the driver and should stop the vehicle within the minimum possible distance. This paper deals with the air brake system which is widely used in commercial vehicles such as trucks, buses and tractor-trailers. One of the important parameters which affect the stopping distance of a vehicle is the brake response time. The work presented focuses on the development of an electropneumatic brake which would decrease the response time of the air brake system thereby providing a reduced stopping distance. A mathematical model that correlates the pressure transients in the brake chamber to the voltage input provided to the electropneumatic brake has been developed. The efficacy of this model is tested by comparing its results with experimental data obtained from various test runs.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"45 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":"116913507","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.2009.5164466
M. Werling, L. Groll
In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.
{"title":"From flatness-based trajectory tracking to path following","authors":"M. Werling, L. Groll","doi":"10.1109/IVS.2009.5164466","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164466","url":null,"abstract":"In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"118 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":"134138149","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.2009.5164274
H. Chinthaka, N. Premachandra, T. Yamasato, T. Fujii, T. Fujii, M. Tanimoto, Y. Kimura
We propose a visible light road-to-vehicle communication system at intersection for ITS. In this system, the communication between vehicle and a LED traffic light is approached using LED traffic light as the transmitter, and on-vehicle high-speed camera as the receiver. The LEDs in the transmitter are emitted with 500Hz and the images of those emitting LEDs are captured by a high-speed camera for conducting communication. In this communication, it is extremely necessary to find the transmitter and detect it for consecutive frames while vehicle is moving. In this paper, we introduce proposals for finding and detecting it for consecutive frames by image processing. Experimental results using appropriate images showed the effectiveness of the proposal.
{"title":"Detection of LED traffic light by image processing for visible light communication system","authors":"H. Chinthaka, N. Premachandra, T. Yamasato, T. Fujii, T. Fujii, M. Tanimoto, Y. Kimura","doi":"10.1109/IVS.2009.5164274","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164274","url":null,"abstract":"We propose a visible light road-to-vehicle communication system at intersection for ITS. In this system, the communication between vehicle and a LED traffic light is approached using LED traffic light as the transmitter, and on-vehicle high-speed camera as the receiver. The LEDs in the transmitter are emitted with 500Hz and the images of those emitting LEDs are captured by a high-speed camera for conducting communication. In this communication, it is extremely necessary to find the transmitter and detect it for consecutive frames while vehicle is moving. In this paper, we introduce proposals for finding and detecting it for consecutive frames by image processing. Experimental results using appropriate images showed the effectiveness of the proposal.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"38 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":"133497548","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.2009.5164465
Chuansheng Zhang, Guangji Ji, Fengxiang Chen, Tiancai Ma, Su Zhou
In this paper, an agent-based power management for fuel cell hybrid vehicles is introduced. The focus is to improve the fuel economy of the vehicle by appropriate power assignment to the power source and braking energy recycle. The agents play a supervisor role of each plant and optimize power output of the plant by corresponding control strategy. Multi-agents work together in a cooperation way to achieve the optimization target. Simulation studies are performed for a fuel cell hybrid vehicle with a 40kW fuel cell engine and a 80AH Li-ion battery pack and results show that the agent-based control scheme is effective to coordinate the hybrid power sources.
{"title":"Study of an agent-based power management for fuel cell hybrid vehicles","authors":"Chuansheng Zhang, Guangji Ji, Fengxiang Chen, Tiancai Ma, Su Zhou","doi":"10.1109/IVS.2009.5164465","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164465","url":null,"abstract":"In this paper, an agent-based power management for fuel cell hybrid vehicles is introduced. The focus is to improve the fuel economy of the vehicle by appropriate power assignment to the power source and braking energy recycle. The agents play a supervisor role of each plant and optimize power output of the plant by corresponding control strategy. Multi-agents work together in a cooperation way to achieve the optimization target. Simulation studies are performed for a fuel cell hybrid vehicle with a 40kW fuel cell engine and a 80AH Li-ion battery pack and results show that the agent-based control scheme is effective to coordinate the hybrid power sources.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"83 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":"131733072","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.2009.5164485
L. Lirong, Jin Xiaoxiong, Jin Chang
In addition to the function of fresh air intake and filtering, automotive intake system is usually also required a good acoustic characteristics and the effective control of the engine intake noise. The impact of different structure parameters to the flow field of the intake system is analyzed in the paper, the one-dimensional porous jump model is applied to model the filter paper. Meanwhile, silencing component is added to the intake system to degrade the noise peak value and improve silencing performance at low-frequency. The comparison of the simulation and testing results shows good agreement. It is proved that the acoustic performance of the intake system has been greatly improved after adding the silencing component.
{"title":"Flow field simulation analysis and acoustic performance improvement of automotive intake system","authors":"L. Lirong, Jin Xiaoxiong, Jin Chang","doi":"10.1109/IVS.2009.5164485","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164485","url":null,"abstract":"In addition to the function of fresh air intake and filtering, automotive intake system is usually also required a good acoustic characteristics and the effective control of the engine intake noise. The impact of different structure parameters to the flow field of the intake system is analyzed in the paper, the one-dimensional porous jump model is applied to model the filter paper. Meanwhile, silencing component is added to the intake system to degrade the noise peak value and improve silencing performance at low-frequency. The comparison of the simulation and testing results shows good agreement. It is proved that the acoustic performance of the intake system has been greatly improved after adding the silencing component.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"28 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":"131807748","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.2009.5164316
Xun Dai, A. Kummert, S. B. Park, D. Neisius
Single Vehicle Road Departure (SVRD) is a main cause of enormous loss of life and property on highways. In total, SVRD accidents amount to around 20 percent of traffic accidents and 40 percent of fatalities in total. Recent developments of Advanced Driver Assistant System (ADAS) such as Lane Departure Warning (LDW) system which perceives road boundaries through optical sensors that trigger a warning when the driver leaves the lane without using their turn signal. However, a robust LDW system can not be realized with only turn signal usage to suppress warnings during an intended lane change. This paper will analyze not only driving position, but also driving tendency and driver state to determine whether an unintended lane departure is detected. The paper will explore how the warning algorithm summarizes information from the environment, vehicle and driver and establishes a model so that real unintended lane departure can be detected and a warning will be triggered accordingly.
{"title":"A warning algorithm for Lane Departure Warning system","authors":"Xun Dai, A. Kummert, S. B. Park, D. Neisius","doi":"10.1109/IVS.2009.5164316","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164316","url":null,"abstract":"Single Vehicle Road Departure (SVRD) is a main cause of enormous loss of life and property on highways. In total, SVRD accidents amount to around 20 percent of traffic accidents and 40 percent of fatalities in total. Recent developments of Advanced Driver Assistant System (ADAS) such as Lane Departure Warning (LDW) system which perceives road boundaries through optical sensors that trigger a warning when the driver leaves the lane without using their turn signal. However, a robust LDW system can not be realized with only turn signal usage to suppress warnings during an intended lane change. This paper will analyze not only driving position, but also driving tendency and driver state to determine whether an unintended lane departure is detected. The paper will explore how the warning algorithm summarizes information from the environment, vehicle and driver and establishes a model so that real unintended lane departure can be detected and a warning will be triggered accordingly.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"143 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":"128982713","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.2009.5164404
A. Sebastian, Maolin Tang, Yanming Feng, M. Looi
Cooperative collision warning system for road vehicles, enabled by recent advances in positioning systems and wireless communication technologies, can potentially reduce traffic accident significantly. To improve the system, we propose a graph model to represent interactions between multiple road vehicles in a specific region and at a specific time. Given a list of vehicles in vicinity, we can generate the interaction graph using several rules that consider vehicle's properties such as position, speed, heading, etc. Safety applications can use the model to improve emergency warning accuracy and optimize wireless channel usage. The model allows us to develop some congestion control strategies for an efficient multi-hop broadcast protocol.
{"title":"Multi-vehicles interaction graph model for cooperative collision warning system","authors":"A. Sebastian, Maolin Tang, Yanming Feng, M. Looi","doi":"10.1109/IVS.2009.5164404","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164404","url":null,"abstract":"Cooperative collision warning system for road vehicles, enabled by recent advances in positioning systems and wireless communication technologies, can potentially reduce traffic accident significantly. To improve the system, we propose a graph model to represent interactions between multiple road vehicles in a specific region and at a specific time. Given a list of vehicles in vicinity, we can generate the interaction graph using several rules that consider vehicle's properties such as position, speed, heading, etc. Safety applications can use the model to improve emergency warning accuracy and optimize wireless channel usage. The model allows us to develop some congestion control strategies for an efficient multi-hop broadcast protocol.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"67 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":"121198290","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.2009.5164450
Christopher Claus, A. Laika, Lei Jia, W. Stechele
Emerging camera systems in a rising number of cars increase the demand for real-time capable low cost image processing systems. The capability of such a system is demonstrated by an algorithm for the computation of Optical Flow. In this paper it is shown how the algorithm has to be (re-)designed in order to benefit from platform (FPGA or CPU) specific features. In addition a hardware implementation is presented meeting the real-time requirements and outperforms general purpose CPUs in terms of execution time and power consumption. Timing measurements as well as an analysis on the quality of the resulting Optical Flow are presented. Although the clock frequency of the FPGA-based solution is nearly 18 times lower, compared to a 1.86 GHz Core2 CPU, results are computed almost twice as fast.
{"title":"High performance FPGA based optical flow calculation using the census transformation","authors":"Christopher Claus, A. Laika, Lei Jia, W. Stechele","doi":"10.1109/IVS.2009.5164450","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164450","url":null,"abstract":"Emerging camera systems in a rising number of cars increase the demand for real-time capable low cost image processing systems. The capability of such a system is demonstrated by an algorithm for the computation of Optical Flow. In this paper it is shown how the algorithm has to be (re-)designed in order to benefit from platform (FPGA or CPU) specific features. In addition a hardware implementation is presented meeting the real-time requirements and outperforms general purpose CPUs in terms of execution time and power consumption. Timing measurements as well as an analysis on the quality of the resulting Optical Flow are presented. Although the clock frequency of the FPGA-based solution is nearly 18 times lower, compared to a 1.86 GHz Core2 CPU, results are computed almost twice as fast.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"22 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":"121357190","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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