2017 IEEE Intelligent Vehicles Symposium (IV)最新文献_第9页

Driver route and destination prediction 司机路线和目的地预测

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995829

G. Panahandeh

引用次数: 7

Robust localization using 3D NDT scan matching with experimentally determined uncertainty and road marker matching 鲁棒定位使用三维无损检测扫描匹配与实验确定的不确定性和道路标记匹配

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995900

Naoki Akai, Luis Yoichi Morales Saiki, E. Takeuchi, Yuki Yoshihara, Y. Ninomiya

{"title":"Robust localization using 3D NDT scan matching with experimentally determined uncertainty and road marker matching","authors":"Naoki Akai, Luis Yoichi Morales Saiki, E. Takeuchi, Yuki Yoshihara, Y. Ninomiya","doi":"10.1109/IVS.2017.7995900","DOIUrl":"https://doi.org/10.1109/IVS.2017.7995900","url":null,"abstract":"In this paper, we present a localization approach that is based on a point-cloud matching method (normal distribution transform “NDT”) and road-marker matching based on the light detection and ranging intensity. Point-cloud map-based localization methods enable autonomous vehicles to accurately estimate their own positions. However, accurate localization and “matching error” estimations cannot be performed when the appearance of the environment changes, and this is common in rural environments. To cope with these inaccuracies, in this work, we propose to estimate the error of NDT scan matching beforehand (off-line). Then, as the vehicle navigates in the environment, the appropriate uncertainty is assigned to the scan matching. 3D NDT scan matching utilizes the uncertainty information that is estimated off-line, and is combined with a road-marker matching approach using a particle-filtering algorithm. As a result, accurate localization can be performed in areas in which 3D NDT failed. In addition, the uncertainty of the localization is reduced. Experimental results show the performance of the proposed method.","PeriodicalId":143367,"journal":{"name":"2017 IEEE Intelligent Vehicles Symposium (IV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114346412","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: 69

A simulated car-park environment for the evaluation of video-based on-site parking guidance systems 模拟停车场环境，评估基于视频的现场停车引导系统

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995933

Marc Tschentscher, Ben Prus, Daniela Horn

引用次数: 5

Online vehicle detection using Haar-like, LBP and HOG feature based image classifiers with stereo vision preselection 基于Haar-like、LBP和HOG特征的图像分类器的立体视觉预选在线车辆检测

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995810

Daniel Neumann, T. Langner, Fritz Ulbrich, Dorothee Spitta, D. Goehring

引用次数: 41

Intention estimation for ramp merging control in autonomous driving 自动驾驶匝道合并控制的意图估计

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995935

Chiyu Dong, J. Dolan, B. Litkouhi

{"title":"Intention estimation for ramp merging control in autonomous driving","authors":"Chiyu Dong, J. Dolan, B. Litkouhi","doi":"10.1109/IVS.2017.7995935","DOIUrl":"https://doi.org/10.1109/IVS.2017.7995935","url":null,"abstract":"Cooperative driving behavior is essential for driving in traffic, especially for ramp merging, lane changing or navigating intersections. Autonomous vehicles should also manage these situations by behaving cooperatively and naturally. In this paper, we present a novel learning-based method to efficiently estimate other vehicles' intentions and interact with them in ramp merging scenarios, without over-the-air communication between vehicles. The intention estimate is generated from a Probabilistic Graphical Model (PGM) which organizes historical data and latent intentions and determines predictions. Real driving trajectories are used to learn transition models in the PGM. Thus, besides the structure of the PGM, our method does not require human-designed reward or cost functions. The PGM-based intention estimation is followed by an off-the-shelf ACC distance keeping model to generate proper acceleration/deceleration commands. The PGM plays a plug-in role in our self-driving framework [1]. We validate the performance of our method both on real merging data and using a designed merging strategy in simulation, and show significant improvements compared with previous methods. Parameter design is also discussed by experiments. The new method is computationally efficient, and does not require acceleration information about other vehicles, which is hard to read directly from sensors mounted on the autonomous vehicle.","PeriodicalId":143367,"journal":{"name":"2017 IEEE Intelligent Vehicles Symposium (IV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125728313","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: 74

Building driver's trust in lane change assistance systems by adapting to driver's uncertainty states 适应驾驶员不确定状态，建立驾驶员对变道辅助系统的信任

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995772

Fei Yan, M. Eilers, A. Lüdtke, M. Baumann

{"title":"Building driver's trust in lane change assistance systems by adapting to driver's uncertainty states","authors":"Fei Yan, M. Eilers, A. Lüdtke, M. Baumann","doi":"10.1109/IVS.2017.7995772","DOIUrl":"https://doi.org/10.1109/IVS.2017.7995772","url":null,"abstract":"Driver's uncertainty during decision-making in overtaking results in long reaction times and potentially dangerous lane change maneuvers. Current lane change assistance systems focus on safety assessments providing either too conservative or excessive warnings, which influence driver's acceptance and trust in these systems. Inspired by the emancipation theory of trust, we expect systems providing information adapted to driver's uncertainty states to simultaneously help to reduce long reaction times and build the overall trust in automation. In previous work, we presented an adaptive lane change assistance system based on this concept utilizing a probabilistic model of driver's uncertainty. In this paper, we investigate whether the proposed system is able to improve reaction times and build trust in the automation as expected. A simulator study was conducted to compare the proposed system with an unassisted baseline and three reference systems not adaptive to driver's uncertainty. The results show while all systems reduce reaction times compared to the baseline, the proposed adaptive system is the most trusted and accepted.","PeriodicalId":143367,"journal":{"name":"2017 IEEE Intelligent Vehicles Symposium (IV)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133092064","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

Real-time variational stereo reconstruction with applications to large-scale dense SLAM 实时变分立体重建及其在大规模密集SLAM中的应用

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995899

G. Kuschk, Aljaz Bozic, D. Cremers

引用次数: 12

Green routing fuel saving opportunity assessment: A case study using large-scale real-world travel data 绿色路线节油机会评估:使用大规模真实旅行数据的案例研究

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995882

Lei Zhu, J. Holden, E. Wood, Jeffrey Gender

{"title":"Green routing fuel saving opportunity assessment: A case study using large-scale real-world travel data","authors":"Lei Zhu, J. Holden, E. Wood, Jeffrey Gender","doi":"10.1109/IVS.2017.7995882","DOIUrl":"https://doi.org/10.1109/IVS.2017.7995882","url":null,"abstract":"New technologies such as connected and automated vehicles have attracted more and more research attention for their potential to improve the energy efficiency and environmental impact of current transportation systems. Green routing is one such connected vehicle strategy under which drivers receive information about the most fuel-efficient route before departing for a given destination. This paper introduces an evaluation framework for estimating the benefits of green routing based on large-scale, real-world travel data. The framework has the capability to quantify fuel savings by estimating the fuel consumption on alternate routes that could be taken between two locations and comparing these to the estimated fuel consumption of the actual route taken. A route-based fuel consumption estimation model that considers road traffic conditions, functional class, and grade is proposed and used in the framework. A study using a large-scale, high-resolution data set from the California Household Travel Survey indicates that 31% of actual routes have fuel savings potential, and among these routes the cumulative fuel savings could reach 12%. Alternately calculating the potential fuel savings relative to the full set of actual routes (including those that already follow the greenest route recommendation), the potential savings relative to the overall estimated fuel consumption would be 4.5%. Notably, two thirds of the fuel savings occur on green routes that save both fuel and time relative to the original actual routes. The remaining third would be subject to weighing the potential fuel savings against required increases in travel time for the recommended green route.","PeriodicalId":143367,"journal":{"name":"2017 IEEE Intelligent Vehicles Symposium (IV)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130755235","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: 14

Train cooperative control for headway adjustment in high-speed railways 高速铁路车头距调整的列车协同控制

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995740

J. Xun, Jiateng Yin, Yang Zhou, Fan Liu

{"title":"Train cooperative control for headway adjustment in high-speed railways","authors":"J. Xun, Jiateng Yin, Yang Zhou, Fan Liu","doi":"10.1109/IVS.2017.7995740","DOIUrl":"https://doi.org/10.1109/IVS.2017.7995740","url":null,"abstract":"In high-speed railways equipped with advanced train control systems, the train-to-train or train-to-ground communication technologies enable the trains to follow their former trains with a constant headway. Due to some disturbances (e.g., weather condition, train re-routing), the train following headway may be inconsistent between successive trains, which requires real-time headway adjustment to coordinate train operations by selecting proper speed curves to improve system performances (e.g., line capacity, energy consumption, power demand, etc) with constrains of safety, punctuality and comfort. This paper proposes a multi-train control model based on cooperative control to adjust train following headway. In particular, this train cooperative control model considers several practical constraints, e.g., train controller output constraints, safe train following distance. Then, this control problem is solved through a rolling horizon approach by calculating the Riccati equation with Lagrangian multipliers. Finally, two case studies are given through simulation experiments. The simulation results are analyzed which demonstrate the effectiveness of the proposed approach.","PeriodicalId":143367,"journal":{"name":"2017 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130943346","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

Fuel and comfort efficient cooperative control for autonomous vehicles 自动驾驶汽车的燃油和舒适性高效协同控制

2017 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2017-06-01 DOI: 10.1109/IVS.2017.7995943

F. Mohseni, J. Åslund, E. Frisk, L. Nielsen

引用次数: 6