Pub Date : 2010-07-15DOI: 10.1109/ICVES.2010.5550939
Yizhi Qu, Lingxi Li, Yan Liu, Yaobin Chen, Yaping Dai
This paper develops an algorithm for estimating the route(s) with the least total travel time in transportation systems that are modeled as Petri nets. Each transition in the net is associated with a cost that is related to the travel time from a starting point to a destination. This cost can be computed from the traffic flow and vehicle speed information obtained from the traffic data via an approach called Adaptive Gray Threshold Traffic Parameters Measurement (AGTTPM). Given a transportation system modeled as a Petri net that has cost on each transition, we aim at finding the transition firing sequences (traffic routes) from an initial marking (a starting point) to a final marking (a destination) within a certain time period T and have the least total cost (the least total travel time). In this paper we develop an algorithm that is able to systematically obtain these routes with the least total travel time.
{"title":"Travel routes estimation in transportation systems modeled by Petri Nets","authors":"Yizhi Qu, Lingxi Li, Yan Liu, Yaobin Chen, Yaping Dai","doi":"10.1109/ICVES.2010.5550939","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550939","url":null,"abstract":"This paper develops an algorithm for estimating the route(s) with the least total travel time in transportation systems that are modeled as Petri nets. Each transition in the net is associated with a cost that is related to the travel time from a starting point to a destination. This cost can be computed from the traffic flow and vehicle speed information obtained from the traffic data via an approach called Adaptive Gray Threshold Traffic Parameters Measurement (AGTTPM). Given a transportation system modeled as a Petri net that has cost on each transition, we aim at finding the transition firing sequences (traffic routes) from an initial marking (a starting point) to a final marking (a destination) within a certain time period T and have the least total cost (the least total travel time). In this paper we develop an algorithm that is able to systematically obtain these routes with the least total travel time.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125791910","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550934
Peng Hao, Yang Shun
Utilization rate of hard real-time scheduling mechanism has an important effect on the schedulibility of real-time system like Controller Area Network. In this paper, based on the technique named bit-stuff and the maximum transmission time of frame we prove that if the priority of messages flow is allotted by Rate Monotonic (RM) policy and if requested capacity of CAN is not above 30% then time deadlines of all messages flow are met.
{"title":"Computing utilization rate of Rate Monotonic scheduling mechanism in Controller Area Network","authors":"Peng Hao, Yang Shun","doi":"10.1109/ICVES.2010.5550934","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550934","url":null,"abstract":"Utilization rate of hard real-time scheduling mechanism has an important effect on the schedulibility of real-time system like Controller Area Network. In this paper, based on the technique named bit-stuff and the maximum transmission time of frame we prove that if the priority of messages flow is allotted by Rate Monotonic (RM) policy and if requested capacity of CAN is not above 30% then time deadlines of all messages flow are met.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128840040","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550922
N. Fricke, Heather Wisdom, Michael D. Justiss, S. Koskie, R. Dufour, Glenn Widmann
Driving simulators provide a means to balance experimental control with ecological validity when studying autonomous advanced driver assistance systems. This paper presents methodological considerations in the development of research designed to investigate such systems. Assessment methods including driver performance as a safety measure, related experimental design, driver state monitoring, and constructs indirectly related to driver safety, such as trust and mental workload are discussed.
{"title":"Autonomous driving systems - methodological considerations in human factors research","authors":"N. Fricke, Heather Wisdom, Michael D. Justiss, S. Koskie, R. Dufour, Glenn Widmann","doi":"10.1109/ICVES.2010.5550922","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550922","url":null,"abstract":"Driving simulators provide a means to balance experimental control with ecological validity when studying autonomous advanced driver assistance systems. This paper presents methodological considerations in the development of research designed to investigate such systems. Assessment methods including driver performance as a safety measure, related experimental design, driver state monitoring, and constructs indirectly related to driver safety, such as trust and mental workload are discussed.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133538772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes a novel vision-aided navigation architecture to aid the inertial navigation system (INS) for accurate unmanned aerial vehicle (UAV) localization. Unlike previous image localization methods such as scene matching and terrain contour matching, our approach registers meaningful object-level features extracted from real-time aerial imagery with the data of geographic information system (GIS). Firstly, we extract from aerial images the widely distributed object features including roads, rivers, road intersections, villages, bridges et al.. Then, the extracted image features are delineated as geometrical points and vectors, which coincide with the representation of GIS data. Finally, GIS model is constructed by corresponding geographical object information from GIS data, and visual geometrical features are registered with GIS model to obtain the absolute position of the image. The proposed method adopts GIS as reference data, thus the storage requirement is lower than that of scene matching. In addition, all steps of this approach can be calculated efficiently, while the computational cost of terrain contour matching is very high. Simulation results demonstrate the feasibility of the proposed method for UAV localization.
{"title":"Vision-aided UAV navigation using GIS data","authors":"Duo-Yu Gu, Cheng-Fei Zhu, Jiang Guo, Shuxiao Li, Hongxing Chang","doi":"10.1109/ICVES.2010.5550944","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550944","url":null,"abstract":"This paper proposes a novel vision-aided navigation architecture to aid the inertial navigation system (INS) for accurate unmanned aerial vehicle (UAV) localization. Unlike previous image localization methods such as scene matching and terrain contour matching, our approach registers meaningful object-level features extracted from real-time aerial imagery with the data of geographic information system (GIS). Firstly, we extract from aerial images the widely distributed object features including roads, rivers, road intersections, villages, bridges et al.. Then, the extracted image features are delineated as geometrical points and vectors, which coincide with the representation of GIS data. Finally, GIS model is constructed by corresponding geographical object information from GIS data, and visual geometrical features are registered with GIS model to obtain the absolute position of the image. The proposed method adopts GIS as reference data, thus the storage requirement is lower than that of scene matching. In addition, all steps of this approach can be calculated efficiently, while the computational cost of terrain contour matching is very high. Simulation results demonstrate the feasibility of the proposed method for UAV localization.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125132909","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550949
Xiaohui Hu, R. Eberhart, B. Foresman
Excessive sleepiness may result in an increased risk of a motor vehicle crash either because the motorist falls asleep while driving or because he/she experiences reduced attention to road events and driving tasks due to sleepiness/inattention. This study was designed to investigate noninvasive measurable patterns that predict driving-related sleepiness and inattention. Seventeen residents-in-training (residents) recruited from the Indiana University Hospital took five-session driving tests on a driving simulator. Driving, sleep diary, questionnaire, and electroencephalogram (EEG) information were recorded for subsequent data analysis. With statistical and computational intelligence tools, some basic driving behaviors associated with inattention and sleepiness were identified. Results suggest that a combination of standard deviation of lateral lane position and standard deviation of steering wheel angle is a possible measure of the relationships between driving behaviors and road risks. The derived patterns are also consistent with other non-invasive measurements of sleepiness such as Epworth Sleepiness Scale and Stanford Sleepiness Scale.
{"title":"Modeling drowsy driving behaviors","authors":"Xiaohui Hu, R. Eberhart, B. Foresman","doi":"10.1109/ICVES.2010.5550949","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550949","url":null,"abstract":"Excessive sleepiness may result in an increased risk of a motor vehicle crash either because the motorist falls asleep while driving or because he/she experiences reduced attention to road events and driving tasks due to sleepiness/inattention. This study was designed to investigate noninvasive measurable patterns that predict driving-related sleepiness and inattention. Seventeen residents-in-training (residents) recruited from the Indiana University Hospital took five-session driving tests on a driving simulator. Driving, sleep diary, questionnaire, and electroencephalogram (EEG) information were recorded for subsequent data analysis. With statistical and computational intelligence tools, some basic driving behaviors associated with inattention and sleepiness were identified. Results suggest that a combination of standard deviation of lateral lane position and standard deviation of steering wheel angle is a possible measure of the relationships between driving behaviors and road risks. The derived patterns are also consistent with other non-invasive measurements of sleepiness such as Epworth Sleepiness Scale and Stanford Sleepiness Scale.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"165 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131026736","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550932
C. Lauer, K. Hielscher, R. German, Jens Pollmer
The formal verification of task schedulability is getting more important in the automotive domain as more and more applications are integrated into domain specific controllers. Especially for safety critical applications an indepth knowledge about the worst-case response time of tasks is of utmost importance. Such systems often consist of subsystems that comprise of a collection of tasks, called transactions, which are triggered by external events. We adapt a well known response time analysis to analyze asynchronous task sets where subsets may be triggered from different clock references. Therefore we refine the original computational model from the literature to capture the information about transaction clock references. To determine the schedulability of the system we first analyze all task subsets which are triggered by the same clock reference. Then we combine the results to derive the response times for the complete task set. The approach incorporates no overestimation of the response times and therefore represets a necessary and sufficient schedulability test for such systems. The computational complexity of the presented approach is O(nm) with n being the number of tasks and m the number of clock references in the system. We apply the analysis to a real-world scenario from the automotive safety domain to confirm the computational
{"title":"Scheduling complex automotive embedded real-time systems","authors":"C. Lauer, K. Hielscher, R. German, Jens Pollmer","doi":"10.1109/ICVES.2010.5550932","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550932","url":null,"abstract":"The formal verification of task schedulability is getting more important in the automotive domain as more and more applications are integrated into domain specific controllers. Especially for safety critical applications an indepth knowledge about the worst-case response time of tasks is of utmost importance. Such systems often consist of subsystems that comprise of a collection of tasks, called transactions, which are triggered by external events. We adapt a well known response time analysis to analyze asynchronous task sets where subsets may be triggered from different clock references. Therefore we refine the original computational model from the literature to capture the information about transaction clock references. To determine the schedulability of the system we first analyze all task subsets which are triggered by the same clock reference. Then we combine the results to derive the response times for the complete task set. The approach incorporates no overestimation of the response times and therefore represets a necessary and sufficient schedulability test for such systems. The computational complexity of the presented approach is O(nm) with n being the number of tasks and m the number of clock references in the system. We apply the analysis to a real-world scenario from the automotive safety domain to confirm the computational","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132947836","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550941
Jianqiang Wang, Bo Yang, S. Li, Dezhao Zhang, Keqiang Li
In order to satisfy the request of the driving assistance systems (DAS) for heavy duty vehicles, a high-speed valves based pneumatic electronic braking assistance system (PEBAS) is developed. A novel configuration of PEBAS is designed and its mathematical model is built by analyzing the operation of the air-flow inside the high-speed valve. Based on the model, a PWM (pulse width modulation) method is used to control the high-speed valves and its duty cycle is adjusted by a PI controller in order to track the desired braking pressure. The controller is optimized according to test results of the high-speed valves. Then, an HIL (Hardware in-the-Loop) platform is built to validate the performance of the system. Experiments show that the control error of the developed PEBAS is less than 5%.
{"title":"Pneumatic electronic braking assistance system using high-speed valves","authors":"Jianqiang Wang, Bo Yang, S. Li, Dezhao Zhang, Keqiang Li","doi":"10.1109/ICVES.2010.5550941","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550941","url":null,"abstract":"In order to satisfy the request of the driving assistance systems (DAS) for heavy duty vehicles, a high-speed valves based pneumatic electronic braking assistance system (PEBAS) is developed. A novel configuration of PEBAS is designed and its mathematical model is built by analyzing the operation of the air-flow inside the high-speed valve. Based on the model, a PWM (pulse width modulation) method is used to control the high-speed valves and its duty cycle is adjusted by a PI controller in order to track the desired braking pressure. The controller is optimized according to test results of the high-speed valves. Then, an HIL (Hardware in-the-Loop) platform is built to validate the performance of the system. Experiments show that the control error of the developed PEBAS is less than 5%.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131173107","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550938
S. Siegl, K. Hielscher, R. German
Extended Automation Method 2.0 (EXAM) is employed at AUDI AG to perform the testing of automotive systems. The main drawback of EXAM is, that each test case must be devised and created individually. This procedure is apparently awkward and error-prone. Moreover, the development of increasingly complex functionality poses new challenges to the testing routine in industry. We employed Timed Usage Models to extend the EXAM test method. The usage model serves as the basis for the whole testing process, including test planning and test case generation. We derived automatically platform independent test cases for the execution in EXAM. Test-bench specific code was automatically generated for the test cases in EXAM, where they were executed on hardware-in-the-loop simulators (HILs). Usage models were created for functionalities from power train, comfort, and energy management. The application of usage models allowed the assessment of the test effort and the systematic generation of test cases.
{"title":"Model driven testing of embedded automotive systems with timed usage models","authors":"S. Siegl, K. Hielscher, R. German","doi":"10.1109/ICVES.2010.5550938","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550938","url":null,"abstract":"Extended Automation Method 2.0 (EXAM) is employed at AUDI AG to perform the testing of automotive systems. The main drawback of EXAM is, that each test case must be devised and created individually. This procedure is apparently awkward and error-prone. Moreover, the development of increasingly complex functionality poses new challenges to the testing routine in industry. We employed Timed Usage Models to extend the EXAM test method. The usage model serves as the basis for the whole testing process, including test planning and test case generation. We derived automatically platform independent test cases for the execution in EXAM. Test-bench specific code was automatically generated for the test cases in EXAM, where they were executed on hardware-in-the-loop simulators (HILs). Usage models were created for functionalities from power train, comfort, and energy management. The application of usage models allowed the assessment of the test effort and the systematic generation of test cases.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"115 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133135383","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550935
G. Widmann
Crash-avoidance and pre-crash active safety technologies are both being developed to assist in reducing the number of crashes and minimizing the severity of crashes. The root basis in the development of new and improved active safety technologies should begin with gaining further knowledge about crash kinds and causes.
{"title":"Crash data partition methodology in development of active safety sensors and product solutions","authors":"G. Widmann","doi":"10.1109/ICVES.2010.5550935","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550935","url":null,"abstract":"Crash-avoidance and pre-crash active safety technologies are both being developed to assist in reducing the number of crashes and minimizing the severity of crashes. The root basis in the development of new and improved active safety technologies should begin with gaining further knowledge about crash kinds and causes.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"288 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131935701","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 : 2010-07-15DOI: 10.1109/ICVES.2010.5550929
Jiang Liu, Guoqing Ji, Yushun Wang
With the rapid development of electronic control technology, the increasing requirements for vehicles' drive, economic and emission performances propel the application of Electronic Throttle System (ETS), which can achieve accurate closed-loop control for throttle open angle. In this paper, the non-linear factors, such as spring torque, friction, intake resistance and gear clearance, are taken into account during the derivation of ETS model. Five controllers are designed in Matlab/Simulink, using PID, fuzzy, sliding model control approaches and their combination. Then step input simulations are performed and their response characteristics are compared, which are validated in the SGMW B12 engine test rig.
{"title":"Study on electronic throttle system controller design","authors":"Jiang Liu, Guoqing Ji, Yushun Wang","doi":"10.1109/ICVES.2010.5550929","DOIUrl":"https://doi.org/10.1109/ICVES.2010.5550929","url":null,"abstract":"With the rapid development of electronic control technology, the increasing requirements for vehicles' drive, economic and emission performances propel the application of Electronic Throttle System (ETS), which can achieve accurate closed-loop control for throttle open angle. In this paper, the non-linear factors, such as spring torque, friction, intake resistance and gear clearance, are taken into account during the derivation of ETS model. Five controllers are designed in Matlab/Simulink, using PID, fuzzy, sliding model control approaches and their combination. Then step input simulations are performed and their response characteristics are compared, which are validated in the SGMW B12 engine test rig.","PeriodicalId":416036,"journal":{"name":"Proceedings of 2010 IEEE International Conference on Vehicular Electronics and Safety","volume":"12 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123702287","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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