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2010 IEEE Intelligent Vehicles Symposium最新文献

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Energy constrained trajectory generation for ADAS ADAS的能量约束轨迹生成
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548110
Jérémie Daniel, A. Birouche, Jean-Philippe Lauffenburger, M. Basset
{"title":"Energy constrained trajectory generation for ADAS","authors":"Jérémie Daniel, A. Birouche, Jean-Philippe Lauffenburger, M. Basset","doi":"10.1109/IVS.2010.5548110","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548110","url":null,"abstract":"This paper presents a new constrained trajectory generation method dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, and considering different constraints related to the road profile, the vehicle and the driver, a convex optimization algorithm generates specific Spline-based trajectories. Characteristically, these trajectories are safe, they stay within the traffic lane borders, at the same time minimize an energy criterion along the path, and finally, they are curvature continuous. The present solution has been tested on several roads and the results show the efficiency of the energy constrained trajectory generation method.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"41 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132394425","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}
引用次数: 8
Object tracking via the probability-based segmentation using laser range images 基于概率分割的激光距离图像目标跟踪
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548081
Yung-Chou Lee, T. Hsiao
{"title":"Object tracking via the probability-based segmentation using laser range images","authors":"Yung-Chou Lee, T. Hsiao","doi":"10.1109/IVS.2010.5548081","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548081","url":null,"abstract":"In this paper, a probability-based segmentation approach is presented for object tracking. The proposed approach uses the Dirichlet process mixture model to describe the probabilistic distribution of observations in a single scan of a laserscanner. Then the number of segments is inferred from the observations by the Gibbs sampling method. Moreover each segment is classified into one of the three predefined classes such that most of non-vehicle-like objects on the roadsides can be filtered out. Then, the tracking algorithm, called Joint Integrated Probabilistic Data Association Filter (JIPDAF), is applied to track the classified objects and manage existing tracks. Simulations based on real traffic data demonstrate that the non-vehicle-like objects on the roadsides are suppressed. Since the number of objects in the tracking step is decreased, the computation load of the tracking step is decreased.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132883300","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}
引用次数: 5
Vehicle steering maneuvers with direct trajectory optimization 具有直接轨迹优化的车辆转向机动
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5547966
D. Soudbakhsh, A. Eskandarian, D. Chichka
{"title":"Vehicle steering maneuvers with direct trajectory optimization","authors":"D. Soudbakhsh, A. Eskandarian, D. Chichka","doi":"10.1109/IVS.2010.5547966","DOIUrl":"https://doi.org/10.1109/IVS.2010.5547966","url":null,"abstract":"Steering control systems have been used to develop vehicle automated lane change maneuvers or evasive maneuvers for collision avoidance. Most of these systems have used predetermined desired trajectories to perform the required maneuvers. In this study, an optimal trajectory is found while ensuring minimization of lateral acceleration throughout the maneuver. Collocation technique was used to numerically solve the nonlinear programming problem. The results show a near optimal trajectory can be achieved. The generated trajectory is compared to that of a fifth-order polynomial. The resultant trajectory was substantially better than the polynomial one, with both a lower peak and the overall lateral accelerations.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128778547","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}
引用次数: 5
A fusion method of data association and virtual detection for minimizing track loss and false track 一种基于数据关联与虚拟检测的航迹丢失与误航迹最小化融合方法
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548084
Y. Lim, Chung-Hee Lee, Soon Kwon, Jong-hun Lee
{"title":"A fusion method of data association and virtual detection for minimizing track loss and false track","authors":"Y. Lim, Chung-Hee Lee, Soon Kwon, Jong-hun Lee","doi":"10.1109/IVS.2010.5548084","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548084","url":null,"abstract":"In this paper, we present a method to track multiple moving vehicles using the global nearest neighborhood (GNN) data association (DA) based on 2D global position and virtual detection based on motion tracking. Unlikely the single target tracking, multiple target tracking needs to associate observation-to-track pairs. DA is a process to determine which measurements are used to update each track. We use the GNN data association not to lost track and not to connect incorrect measurements. GNN is a simple, robust, and optimal technique for intelligent vehicle applications with a stereo vision system that can reliably estimates the position of a vehicle. However, an incomplete detection and recognition technique bring low track maintenance due to missed detections and false alarms. A complementary virtual detection method adds to GNN method. Virtual detection is used to recover the missed detection by motion tracking when the track maintains for some periods. Motion tracking estimates virtual region of interest (ROI) of the missed detection using a pyramidal Lukas-Kanade feature tracker. Next, GNN associates the lost tracks and virtual measurements if the measurement exists in the validation gate. Our experimental results show that our tracking method works well in a stereo vision system with incomplete detection and recognition ability.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121628687","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}
引用次数: 12
Client-server network architecture for safe pilgrim journey in the Kingdom of Saudi Arabia 沙特阿拉伯王国安全朝圣之旅的客户端-服务器网络架构
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5547984
I. Dhaou
{"title":"Client-server network architecture for safe pilgrim journey in the Kingdom of Saudi Arabia","authors":"I. Dhaou","doi":"10.1109/IVS.2010.5547984","DOIUrl":"https://doi.org/10.1109/IVS.2010.5547984","url":null,"abstract":"This paper proposes a client-server network architecture for safe pilgrimage in the kingdom of Saudi Arabia. The proposed architecture allows for continuous tracking and trip planning of shuttle-bus during its journey to the holy city of Makkah using assisted GPS. For personnel identification the architecture supports RFID technology. The proposed RFID technology is Java contactless card that enables both bus drivers and travel agencies to prevent unauthorized passengers to board the bus and to supervise authorized passengers during breaks. Furthermore Java card based system facilitates offline and online passengers identifications at the various checking points by the Saudi authorities. Wireless access to the internet is a vital layer in the proposed architecture as it allows for tracking, trip planning and on-line identity verification. Experimental results for wireless access to the internet show that HSPA is better than WiMAX as it offers acceptable quality of service at vehicle speed that exceeds 120kmph.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126378407","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}
引用次数: 12
Curb reconstruction using Conditional Random Fields 约束重建使用条件随机场
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548096
Jan Siegemund, D. Pfeiffer, Uwe Franke, W. Förstner
{"title":"Curb reconstruction using Conditional Random Fields","authors":"Jan Siegemund, D. Pfeiffer, Uwe Franke, W. Förstner","doi":"10.1109/IVS.2010.5548096","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548096","url":null,"abstract":"This paper presents a generic framework for curb detection and reconstruction in the context of driver assistance systems. Based on a 3D point cloud, we estimate the parameters of a 3D curb model, incorporating also the curb adjacent surfaces, e.g. street and sidewalk. We apply an iterative two step approach. First, the measured 3D points, e.g., obtained from dense stereo vision, are assigned to the curb adjacent surfaces using loopy belief propagation on a Conditional Random Field. Based on this result, we reconstruct the surfaces and in particular the curb. Our system is not limited to straight-line curbs, i.e. it is able to deal with curbs of different curvature and varying height. The proposed algorithm runs in real-time on our demonstrator vehicle and is evaluated in urban real-world scenarios. It yields highly accurate results even for low curbs up to 20m distance.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122224547","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}
引用次数: 66
Using V2V communication to create Over-the-horizon Awareness in multiple-lane highway scenarios 使用V2V通信在多车道高速公路场景中创建超视距感知
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548073
Ramon S. Schwartz, Martijn van Eenennaam, G. Karagiannis, G. Heijenk, W. K. Wolterink, H. Scholten
{"title":"Using V2V communication to create Over-the-horizon Awareness in multiple-lane highway scenarios","authors":"Ramon S. Schwartz, Martijn van Eenennaam, G. Karagiannis, G. Heijenk, W. K. Wolterink, H. Scholten","doi":"10.1109/IVS.2010.5548073","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548073","url":null,"abstract":"This paper describes the Over-the-Horizon Awareness (OTHA) protocol which provides an extended view of the traffic ahead to Driver Support Systems (DSS) by means of multi-hop vehicle-to-vehicle communication. The protocol extends and adapts the TrafficFilter [1] to make it suitable for multiple-lane highway scenarios. As basis, we rely on the information required by the Congestion Assistant [2], a driver support system that aids drivers in traffic jams. Simulation results show that OTHA achieves high node reachability and information accuracy.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121175394","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}
引用次数: 21
How to conduct a car? A design example for maneuver based driver-vehicle interaction 如何导车?基于机动的人车交互设计实例
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548099
M. Kauer, M. Schreiber, Ralph Bruder
{"title":"How to conduct a car? A design example for maneuver based driver-vehicle interaction","authors":"M. Kauer, M. Schreiber, Ralph Bruder","doi":"10.1109/IVS.2010.5548099","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548099","url":null,"abstract":"Conduct-by-Wire is a vehicle guidance paradigm, which investigates the possibility of controlling an automobile by maneuver commands. The focus of this paper is to show one possible interaction strategy for maneuver-based vehicle guidance between driver and vehicle by means of discrete maneuvers. Therefore, the paper starts with a short introduction to the advantages of maneuver-based vehicle guidance and proceeds to the current design option for maneuver-based driver-vehicle interaction chosen by the TU Darmstadt. This includes the presentation of the user interface as well as the basic assumptions for maneuver-based interaction. This paper is finished by a specific example for the maneuver “Lane Change right”, which includes system behavior, as well as, information displaying and some restricting facts which are presented together with possible countermeasures.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124900523","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}
引用次数: 42
Vision-based onboard unit for inattentive driving warning and car-following control 基于视觉的车载单元，用于不注意驾驶警告和汽车跟随控制
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548064
T. Chang, Chieh-Chih Wang
{"title":"Vision-based onboard unit for inattentive driving warning and car-following control","authors":"T. Chang, Chieh-Chih Wang","doi":"10.1109/IVS.2010.5548064","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548064","url":null,"abstract":"In this study, we develop an low-cost Advanced Safety Vehicle (ASV) onboard unit that integrates driving warning and car-following control systems on a vision-based platform for laboratory and real-time experiments. This onboard unit mainly consists of three systems including the lateral departure warning System (LDWS), the forward vehicle collision warning system (FVCWS), and the adaptive car-following control system. This onboard system has been validated in laboratory experiments that we have higher than 95% accuracy among 76 tested scenarios. In addition, the results of total 2000-kilometer real-time field tests indicate the characteristics of high accuracy and low false alarm, and further demonstrate the robustness of the proposed system.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":" 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113948935","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}
引用次数: 2
SN-UTIA: A sensor network for urban traffic information acquisition n - uta:用于城市交通信息采集的传感器网络
2010 IEEE Intelligent Vehicles Symposium Pub Date : 2010-06-21 DOI: 10.1109/IVS.2010.5548049
Hesheng Zhang, Cheng Pan, Jun Yang, Honghui Dong, Yong Qin, L. Jia
{"title":"SN-UTIA: A sensor network for urban traffic information acquisition","authors":"Hesheng Zhang, Cheng Pan, Jun Yang, Honghui Dong, Yong Qin, L. Jia","doi":"10.1109/IVS.2010.5548049","DOIUrl":"https://doi.org/10.1109/IVS.2010.5548049","url":null,"abstract":"An architecture of sensor network for urban traffic information acquisition is proposed. The hybrid communication modes include CAN, ZigBee and Ethernet, which can satisfy the requirements of wired and wireless, real-time and massive data transmission. The various kinds of nodes and the prototype sensor network were developed and deployed in Beijing. The test results show the architecture, hybrid communication mode, various sensor nodes and the sensor network proposed in the paper are practical and feasible. This kind of sensor network can be used in traffic surveillance to resolve the problems of present information acquisition.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132699391","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}
引用次数: 3
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