{"title":"Driving and braking torque control methods for securing safe running of front-and-rear-wheel-independent-drive-type electric vehicles (FRID EVs)","authors":"N. Mutoh, K. Yokota","doi":"10.1109/ITSC.2010.5625259","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625259","url":null,"abstract":"This paper describes driving and braking torque control methods for front-and-rear-wheel-independent-drive type electric vehicles (FRID EVs); the methods are based on the distance between an obstacle and the running vehicle and the road surface condition, which are estimated using CCD cameras. The methods comprise three procedures: (i) a procedure to automatically control the braking torque on the basis of the estimated distance, (ii) a procedure to distribute the driving and braking torques to the front and rear wheels by using the friction coefficient estimated through the CCD cameras, and (iii) a procedure to control the slip ratios for the compensation of the error in the estimated friction coefficient. The effectiveness of the torque distribution method is mainly verified through simulations","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"243 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132925817","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}
{"title":"Hierarchical multiobjective model predictive control applied to a dynamic pickup and delivery problem","authors":"A. Núñez, B. Schutter, D. Śaez, C. Cortés","doi":"10.1109/ITSC.2010.5625193","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625193","url":null,"abstract":"A hierarchical multiobjective model based predictive control approach is presented for solving a dynamic pickup and delivery problem. The hierarchical multilayer structure of the system is used to decompose the optimization problem into smaller but more tractable subproblems. In the bottom layer, the dispatcher (re)routes the vehicles when a new request appears, and minimizes user and operator costs. As those two components are usually aimed at opposite goals, the problem is formulated and solved through multiobjective model predictive control. The dispatcher participates in the dynamic routing decisions by expressing his/her preferences in a progressively interactive way. An illustrative experiment of the new approach through simulation of the process is presented to show the potential benefits in the operator cost and in the quality of service perceived by the users.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133294237","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}
{"title":"CUDA implementation of belief propagation for stereo vision","authors":"Young-kyu Choi","doi":"10.1109/ITSC.2010.5625284","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625284","url":null,"abstract":"Measuring distance to obstacles is an important process for intelligent vehicles (IV). With accurate measurement, IV can make appropriate maneuver to avoid such obstacles. To obtain highly accurate result, we used a Markov random field model-based global energy minimization algorithm called belief propagation (BP). However, BP has high computational complexity which makes it difficult for real-time processing. To solve this issue, we took massively parallel approach using Compute Unified Device Architecture (CUDA). In this paper, we first provide profiling result to find the performance bottleneck of BP. Next, we explain CUDA-specific optimization techniques to enhance the performance. We propose a new parallelization technique to speed up the message computation, which takes up the longest time in BP. The experimental result shows that we were able to obtain accurate distance estimation result in real time.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133309344","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}
{"title":"A surrogate approach for the global optimization of signal settings and traffic assignment problem","authors":"L. Adacher, E. Cipriani","doi":"10.1109/ITSC.2010.5624975","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5624975","url":null,"abstract":"We extend a ‘surrogate problem’ approach that is developed for a class of stochastic discrete optimization problems so as to tackle the global signal settings and traf- fic assignment combined problem. We compare a stochastic method based on the surrogate approach, called Surrogate Method (SM), with a Projected Gradient Algorithm (PGA), which uses the Armijo rule for the step size estimation routine. Numerical experiments conducted on a test network show that the surrogate method converges to a really small area and it finds much more efficient solutions.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"471 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133928867","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}
{"title":"A simple adaptive signal control algorithm for isolated intersections using time-space diagrams","authors":"Lertworawanich Ponlathep","doi":"10.1109/ITSC.2010.5625093","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625093","url":null,"abstract":"Traffic signals are the main devices for controlling traffic to guarantee the safe crossing of opposing streams of vehicles and pedestrians. In this study, a simple cycle and split optimization method is developed for isolated intersections. The split optimization is based on the notion of minimizing delay per cycle while cycle length is adjusted according to the residual queues at the end of the cycle. Traffic dynamics at signalized intersections are represented on time-space diagrams using the shockwave theory and information from detectors installed upstream of intersections. Splits are incrementally adjusted so that the delay per cycle is gradually diminished. Cycles are modified to have an efficient use of the provided green times without causing the residual queues. Unlike most algorithms, the proposed method can manage traffic even when queues extend beyond detector locations. Simulation experiments on a two-one-way intersection with different demand scenarios are performed to demonstrate efficiency of the developed algorithm. Hypothesis tests are conducted to statistically verify the efficient comparison between the proposed method and the Webster formula. It is found that in case of fixed demand the proposed method can optimize splits and cycle lengths with no worse performance measures than the optimal fixed-time signal settings according to the Webster formula. For the variable demand case, the result indicates that the algorithm can adjust splits and cycle lengths in response to the change of demand and provides better performance measures than the Webster formula.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129151858","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}
{"title":"Real-time dynamic trajectory planning for highly automated driving in highways","authors":"Paulo Resende, F. Nashashibi","doi":"10.1109/ITSC.2010.5625194","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625194","url":null,"abstract":"This paper presents the implementation of two methods for real-time trajectory planning in a dynamic environment applied to highly automated driving in a highway scenario. Both methods have been implemented for the HAVEit European project. The first method follows the Partial Motion Planning approach, and the second method uses 5th degree (quintic) polynomials to generate a detailed spatio-temporal description of a trajectory to be performed. Both implementations are integrated in a simulation environment and in an experimental research vehicle within HAVEit. Results and evaluations of the trajectory planning algorithms are presented.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116837118","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}
{"title":"Estimating arterial traffic conditions using sparse probe data","authors":"R. Herring, A. Hofleitner, P. Abbeel, A. Bayen","doi":"10.1109/ITSC.2010.5624994","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5624994","url":null,"abstract":"Estimating and predicting traffic conditions in arterial networks using probe data has proven to be a substantial challenge. In the United States, sparse probe data represents the vast majority of the data available on arterial roads in most major urban environments. This article proposes a probabilistic modeling framework for estimating and predicting arterial travel time distributions using sparsely observed probe vehicles. We evaluate our model using data from a fleet of 500 taxis in San Francisco, CA, which send GPS data to our server every minute. The sampling rate does not provide detailed information about where vehicles encountered delay or the reason for any delay (i.e. signal delay, congestion delay, etc.). Our model provides an increase in estimation accuracy of 35% when compared to a baseline approach for processing probe vehicle data.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117148524","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}
{"title":"Driving and traveller behavior studies using 3D Internet","authors":"M. Miska, H. Prendinger, A. Nakasone, M. Kuwahara","doi":"10.1109/ITSC.2010.5625128","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625128","url":null,"abstract":"Simulation is a strong tool for traffic engineers to investigate phenomena, to test control strategies and their impacts, but it also has its limitations. The data needed to calibrate the simulation is limited, mostly from low quality, or - when looking into behavior - not available at all. For the latter on, methods ranging from simple surveys to highly technical experiments in driving simulators are used. The trade off is between the number of people a survey/experiment reaches and the level of realism one can generate to get accurate information. In this paper we are introducing a behavior studies platform based on 3D Internet that will allow researchers to reach out to a broad audience with a high level of realism, but limited technical effort. The system is now in the final testing stage before being utilized to test drivers' reactions on intelligent traffic system (ITS) measures to reduce the emission of CO2.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117248704","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}
Jie Li, Y. Chen, Hao Li, I. Andreasson, H. J. Zuylen
{"title":"Optimizing the fleet size of a Personal Rapid Transit system: A case study in port of Rotterdam","authors":"Jie Li, Y. Chen, Hao Li, I. Andreasson, H. J. Zuylen","doi":"10.1109/ITSC.2010.5625002","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625002","url":null,"abstract":"Cost issues have been an important concern in the development of Personal Rapid Transit (PRT) since the concept was developed several decades ago. The lightweight, computerguided electric vehicles operating the PRT system are generally a major part of the capital cost of the system, especially in larger network with high demand. A sufficient number of empty vehicles are needed to be moved to the stations where passengers are waiting or demand is expected. Generally a larger fleet size leads to a reduction in waiting time of passengers and thus a higher level of service given a specific demand, but an increased investment cost including capital cost per vehicle and additional operation and maintenance. So it requires a compromise between user cost (in terms of passenger waiting times) and operator cost (in terms of fleet sizedependent capital cost and operating/maintenance costs). There should be an optimal fleet size so that the sum of these two costs can be minimized while an expected level of service is achieved. This paper presents first the way to obtain the PRT demand, and then a prescription to determine the optimal fleet size using a cost-effectiveness analysis with traffic simulation. This prescription identifies the set of activities that are necessary to perform the optimization task. Each activity is regarded as a component in our general framework and this framework is illustrated by a case study in the Waal/ Eemshaven harbor area in the Port of Rotterdam, The Netherlands.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127055019","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}
S. Thajchayapong, J. Barria, Javier S. García-Treviño
{"title":"Lane-level traffic estimations using microscopic traffic variables","authors":"S. Thajchayapong, J. Barria, Javier S. García-Treviño","doi":"10.1109/ITSC.2010.5625191","DOIUrl":"https://doi.org/10.1109/ITSC.2010.5625191","url":null,"abstract":"This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.","PeriodicalId":176645,"journal":{"name":"13th International IEEE Conference on Intelligent Transportation Systems","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125775149","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}