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Highly automated driving on highways: System implementation on PC and automotive ECUs 高速公路上的高度自动驾驶:PC和汽车ecu上的系统实现
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6083143
B. Vanholme, B. Lusetti, D. Gruyer, S. Glaser, S. Mammar
{"title":"Highly automated driving on highways: System implementation on PC and automotive ECUs","authors":"B. Vanholme, B. Lusetti, D. Gruyer, S. Glaser, S. Mammar","doi":"10.1109/ITSC.2011.6083143","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6083143","url":null,"abstract":"This paper presents the implementation of a highly automated driving system on automotive Electronic Control Units (ECUs). It integrates a perception component, which uses the combination of high-level sensors to map the environment, a co-pilot, which finds an optimal trajectory in this environment and a control component, which guides the vehicle on this trajectory. The cooperation between human and automation is managed by the driving Mode Selection and arbitration Unit (MSU) and Human-Machine Interface (HMI) components. The co-pilot and control components have been implemented on AUTOSAR-based ECUs, the other components in the RTMaps environment on a standard PC. It has been first been tested on the simulation tool SiVIC and was then transferred to a physical vehicle on test track.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126991926","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: 4
Modelling cooperative driving in congestion shockwaves on a freeway network 高速公路网络拥堵冲击波下的协同驾驶建模
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082837
S. Calvert, T. V. D. Broek, M. Noort
{"title":"Modelling cooperative driving in congestion shockwaves on a freeway network","authors":"S. Calvert, T. V. D. Broek, M. Noort","doi":"10.1109/ITSC.2011.6082837","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082837","url":null,"abstract":"The development of advanced driver assistance technology continues to proceed rapidly. Cooperative systems based on wireless communication are a specific form of advanced driver assistance that is currently evolving rapidly. A drawback in the development of such systems is that options for large scale field-testing and — development of these automated systems are limited. Traffic simulation however offers widespread options for testing. In this paper the effects of cooperative driving using cooperative adaptive cruise control (CACC) to influence congestion shockwaves are evaluated on a part of the Amsterdam freeway network. The effects of congestion shockwaves on a network scale can be different to uniform freeway sections due to interaction between varying traffic flows. The application of CACC to mitigate the negative effects of shockwaves on a network level are simulated and analysed in this research for varying levels of CACC penetration. The results are analysed on both a quantitative as well as qualitative level and give a deeper understanding into the possibilities of the mass application of CACC systems.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128139476","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: 36
Integrated GNSS/INU, vehicle dynamics, and microscopic traffic flow simulator for automotive safety 集成GNSS/INU，车辆动力学和微观交通流模拟器，用于汽车安全
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082995
G. Dedes, D. Grejner-Brzezinska, D. Guenther, G. Heydinger, K. Mouskos, B. Park, C. Toth
{"title":"Integrated GNSS/INU, vehicle dynamics, and microscopic traffic flow simulator for automotive safety","authors":"G. Dedes, D. Grejner-Brzezinska, D. Guenther, G. Heydinger, K. Mouskos, B. Park, C. Toth","doi":"10.1109/ITSC.2011.6082995","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082995","url":null,"abstract":"This paper presents the development of a comprehensive integrated GNSS/INU simulator consisting of a microscopic traffic simulator based on VISSIM, a vehicle dynamics simulator based on CarSim, and a GNSS/INU simulator. The resulting GNSS/INU simulator provides an integrated design, test and evaluation platform for exploring new ideas, developing advanced concept designs and investigating the impact of existing and emerging Global Navigation Systems (GNSS) and Inertial Navigation Unit (INU) technologies on automotive safety at the vehicle and network levels. For the simulation of hazardous conditions VISSIM generates safety warning events based on surrogate safety indicators. The warning events are intercepted at the vehicle dynamics simulator CarSim which generates simulated `ground truth' trajectories based on VISSIM's generated control parameters. GNSS/INU errors are generated by a GNSS/INU simulator and added to the CarSim `ground truth' trajectories. The simulated GNSS/INU vehicle trajectories and the `ground truth' CarSim trajectories are processed through a “Driver-Vehicle Response” module for the estimation of individual vehicle crashes. These crashes are employed to train a Neural Network (NN) as a non-parametric network crash estimator. The trained NN and V2V/V2I simulators are employed to estimate the reduction of network crashes resulting from the use of GNSS/IMU sensors in the vehicles.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132841324","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: 15
A mobile sensing architecture for massive urban scanning 面向大规模城市扫描的移动传感体系结构
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082958
João G. P. Rodrigues, Ana Aguiar, F. Vieira, J. Barros, J. P. S. Cunha
{"title":"A mobile sensing architecture for massive urban scanning","authors":"João G. P. Rodrigues, Ana Aguiar, F. Vieira, J. Barros, J. P. S. Cunha","doi":"10.1109/ITSC.2011.6082958","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082958","url":null,"abstract":"Mobile Sensor Networks based on connected vehicles and smart phones are poised to become key enablers in the development of sustainable and intelligent transportation systems in urban environments. By gathering and processing massive amounts of data in real-time, this form of information and communication infrastructure can be instrumental towards improving traffic flow, reducing carbon emissions and promoting multi-modal mobility and enhanced coordination among public transit systems. We propose a system architecture for a Massive Multi-Sensor Urban Scanner capable of acquiring large quantities of real-time information from a vast variety of sources and sending the data to a back-end data processing cloud using multiple communication interfaces. Requirements, technical challenges, design choices and first results are explained in detail based on a prototype that is currently being deployed in Porto, Portugal.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134003141","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: 28
Fixed point methods for computing within-day dynamic user equilibrium 计算日动态用户平衡的定点方法
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082914
T. Friesz, Pedro A. Neto, Amir H. Meimand
{"title":"Fixed point methods for computing within-day dynamic user equilibrium","authors":"T. Friesz, Pedro A. Neto, Amir H. Meimand","doi":"10.1109/ITSC.2011.6082914","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082914","url":null,"abstract":"We show that analysis of the within-day dynamic user equilibrium (DUE) problem is tremendously simplified by expressing dynamic user equilibrium as a differential variational inequality when dynamic network loading (DNL) is considered to be an embedded subproblem. The DNL problem is approximated as a system of ordinary differential equations (ODEs) which may be efficiently solved using traditional numerical methods. Computing an actual dynamic user equilibrium is shown to require solution of a continuous-time fixed-point problem. A numerical example based on the much studied Sioux Falls network is presented.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134561302","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: 0
Variable time discretization for a time-dependent shortest path algorithm 时变最短路径算法的变时间离散化
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082871
Ye Tian, Y. Chiu, Yang Gao
{"title":"Variable time discretization for a time-dependent shortest path algorithm","authors":"Ye Tian, Y. Chiu, Yang Gao","doi":"10.1109/ITSC.2011.6082871","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082871","url":null,"abstract":"This paper introduces a variable time discretization strategy for a time-dependent A∗ shortest path algorithm. The strategy is aimed at determining the optimal memory allocation for time-dependent travel times data in order to achieve a desirable compromise between accuracy and memory usage. The proposed strategy is based on the dispersion index of the travel times/costs over the entire analysis period, as a result, producing different intervals for each link. The links with travel times that have a higher variance and a lower mean will need to have a shorter time discretization length due to greater fluctuation in travel times. The proposed strategy is implemented in the time-dependent A∗ algorithm and tested with a numerical experiment on a Tucson, AZ, traffic network. The results show that with the same amount of computer memory usage, the proposed variable time discretization strategy achieves much higher accuracy than that of uniform time discretization.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"48 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133557642","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: 1
A study on multi-resolution scheme of macroscopic-microscopic traffic simulation model 宏观-微观交通仿真模型多分辨率方案研究
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6083058
Jian Ma, Jian Sun, Keping Li, Liyan Zhang
{"title":"A study on multi-resolution scheme of macroscopic-microscopic traffic simulation model","authors":"Jian Ma, Jian Sun, Keping Li, Liyan Zhang","doi":"10.1109/ITSC.2011.6083058","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6083058","url":null,"abstract":"Multi-Resolution traffic flow schemes, coupling a microscopic (vehicle based), mesoscopic (cell based) and macroscopic (flow based) representations of traffic flow may be a useful tool to better understand and utilize the relationships between the various types of representation. The paper proposes a new classification of traffic model which is according to the representation scale and the behavioural law firstly. In addition, it shows that the LWR model which is a macroscopic continuum model can be numerically solved in Weighted Essentially Non-Oscillatory (WENO) scheme. Furthermore, the paper mainly studies the hybrid scheme which can couple a macroscopic model (LWR) and a microscopic model (Wiedemann). Simple transformation methods are analyzed to translate the variables parameters between both models. Finally, simulation results show that two shock waves (stopping-starting wave) can propagate along two models differently described. The hybrid scheme can keep the result consistency between the both models.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114419609","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: 13
Moving object trajectory processing based on multi-laser sensing 基于多激光传感的运动目标轨迹处理
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082863
Yipu Zhao, Huijing Zhao, Jie Sha, H. Zha
{"title":"Moving object trajectory processing based on multi-laser sensing","authors":"Yipu Zhao, Huijing Zhao, Jie Sha, H. Zha","doi":"10.1109/ITSC.2011.6082863","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082863","url":null,"abstract":"There have been many researches on moving object detection and tracking. There are also great needs in trajectory analysis and scene modeling so that to provide higher knowledge to surveillance and ITS application for decision making. However in crowded environment, trajectory data sets obtained through online processing contain many broken, group and fragment ones, which degrades trajectory quality, affect the performance in trajectory analysis and scene modeling. A trajectory processing algorithm is developed in this research on a multi-laser sensing system that was developed in our previous work. It contains a trajectory association algorithm, where an interaction graph is built to represent the relationships of trajectories; a graph-based trajectory labeling algorithm; and an EM-based trajectory parameter optimization algorithm. Experiments are conducted using the data collected at an intersection in Beijing with promising results demonstrated.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124321167","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: 0
A single-dependent agent approach for stochastic time-dependent truck dispatching in open-pit mining 露天矿随机时变卡车调度的单依赖代理方法
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082902
G. S. Bastos, Luiz E. Souza, F. Ramos, Carlos H. C. Ribeiro
{"title":"A single-dependent agent approach for stochastic time-dependent truck dispatching in open-pit mining","authors":"G. S. Bastos, Luiz E. Souza, F. Ramos, Carlos H. C. Ribeiro","doi":"10.1109/ITSC.2011.6082902","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082902","url":null,"abstract":"Material transportation is one of the most important aspects of open-pit mine operations. The problem usually involves a truck dispatching system in which decisions on truck assignments and destinations are taken in real-time. Due to its significance, several decision systems for material transportation in open-pit mining have been developed in the last few years, improving productivity and reducing operational costs. This paper presents a single-dependent agent approach based on Time-dependent Markov Decision Processes (TiMDPs) to model the truck dispatching problem in an example mine. The uncertainty is present in the model as stochastic path selections by the truck driver. Simulations are executed using the SimEvents™framework, and the results compared to other dispatching heuristics commonly used in the mining industry show the superiority of the proposed approach.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124369964","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: 20
Microscopic dynamic traffic management: Simulation of two typical situations 微观动态交通管理:两种典型情况的仿真
2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2011-11-18 DOI: 10.1109/ITSC.2011.6082949
W. Daamen, B. Arem, Ivo Bouma
{"title":"Microscopic dynamic traffic management: Simulation of two typical situations","authors":"W. Daamen, B. Arem, Ivo Bouma","doi":"10.1109/ITSC.2011.6082949","DOIUrl":"https://doi.org/10.1109/ITSC.2011.6082949","url":null,"abstract":"This paper presents an evaluation of two typical situations of Microscopic Dynamic Traffic Management. Where Dynamic Traffic Management aims to more efficiently use existing road capacity by generic measures, Microscopic Dynamic Traffic Management anticipates suboptimal use of the available infrastructure by disturbing behavior of one or a few drivers. Using simulation, anticipation of slow predecessors in the same lane and anticipation of slow merging vehicles from an on-ramp are assessed on throughput, average travel time loss and traffic flow stability. The simulation results show positive effects, mainly on traffic flow stability, but also on throughput and travel time in the case of anticipating slow merging vehicles.","PeriodicalId":186596,"journal":{"name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132435082","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: 15
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