2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)最新文献_第10页

Classification of sensor errors for the statistical simulation of environmental perception in automated driving systems 自动驾驶系统环境感知统计仿真中传感器误差分类

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795621

T. Hanke, N. Hirsenkorn, B. Dehlink, A. Rauch, R. Rasshofer, E. Biebl

{"title":"Classification of sensor errors for the statistical simulation of environmental perception in automated driving systems","authors":"T. Hanke, N. Hirsenkorn, B. Dehlink, A. Rauch, R. Rasshofer, E. Biebl","doi":"10.1109/ITSC.2016.7795621","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795621","url":null,"abstract":"A virtual world provides a completely controlled and safe testing environment for the development and testing of current and future automated driving systems. In order to provide conditions close to reality, the input data for the automated driving system generated by sensors for environmental perception have to match closely between virtual and real world. The data gathered by perception sensors like radar, lidar or camera sensors generally provide a lossy description of the environment. Therefore, a sensor error model has to be employed that captures the characteristics of the sensory perception process. We propose a general description of a statistical sensor model, constructed to achieve equivalent sensor output on a statistical level. To construct the model, we define model units that each deal with a specific aspect of the sensory perception process on the object level. We propose a classification scheme and hierarchy for the different error types and describe a methodology for using real world reference data as input for the statistical model.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133624994","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: 9

Towards the integration of electric buses in conventional bus fleets 朝着将电动公交车融入传统公交车队的方向发展

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795537

D. Santos, Zafeiris Kokkinogenis, Jorge Freire de Sousa, D. Perrotta, R. Rossetti

{"title":"Towards the integration of electric buses in conventional bus fleets","authors":"D. Santos, Zafeiris Kokkinogenis, Jorge Freire de Sousa, D. Perrotta, R. Rossetti","doi":"10.1109/ITSC.2016.7795537","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795537","url":null,"abstract":"Private individual transportation is becoming cumbersome and expensive, as urban traffic turns more chaotic, fuel prices increase and the effects of pollutant emissions become evident. Public buses are an attractive approach to reducing the cars in use, as they mostly depend on preexistent infrastructure. Making these buses electric would mean even less tailpipe emissions and cheaper consumption costs, when compared to conventional vehicle fleets. However, fully electric bus fleets can prove disadvantageous. We can tackle this with a more conservative approach - using mixed bus fleets, comprised by both electric and conventional buses. This work intends on studying how to obtain a good balance of the different vehicle typologies in the fleet. To fulfill these goals, real data of a bus network in Porto, Portugal, is studied and an evolutionary algorithm devises mixed fleet arrangements, with a brief sensitivity analysis giving us an overview of how to improve our results. As a means of decision support, this work contributes not only with an approach to configure optimized mixed bus fleets, but also with general considerations for managing public transit with electric vehicle fleets.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132348275","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

Impact of wireless communication delay on train headway of Communication Based Train Control system 基于通信的列车控制系统中无线通信延迟对列车车头的影响

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795580

Wei Li, T. Tang, D. Liang

{"title":"Impact of wireless communication delay on train headway of Communication Based Train Control system","authors":"Wei Li, T. Tang, D. Liang","doi":"10.1109/ITSC.2016.7795580","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795580","url":null,"abstract":"With the rapid growth of capacity demand of railways around the world, Communication Based Train Control (CBTC) system, which is usually used in moving block signaling system to shorten the headway, is adopted by more and more countries. The railway operator in Beijing, the Beijing Subway, is no exception. In order to improve the train operation to meet the capacity demand, the Beijing Subway is interested in understanding how the communication delay of the train-ground wireless communication system affects the headway. Appropriate evaluation methods are needed for this purpose. Therefore, in this paper, we firstly analyzed the impact of the wireless communication delay on train safety envelope. Then, the constraint relationship between the communication delay and the train speed is deduced according to the wireless communication theory and the IEEE 802.11 protocol, Rayleigh distribution is introduced to the relationship to describe the stochastic characteristics of communication delay. In addition, based on moving block headway calculation method, an analytical model combining the headway evaluation and the communication delay is derived subject to the train safety envelope. Simulation results show the difference of the headway between ideal situation and communication delay situation and the relationship between the headway and the train maximum speed under the condition of different communication delays, the conclusions can be used for the train headway optimization, the train safety operation and the transportation efficiency improvement in the similar environments.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134373593","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

A Decision Support System for real-time platooning of trucks 卡车实时队列的决策支持系统

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795801

Mahnam Saeednia, M. Menéndez

引用次数: 5

Quantification of Excitation Required for Accurate Friction Estimation 精确摩擦估计所需的激励量化

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795966

Jakub Prokes, Anton Albinsson, L. Laine

{"title":"Quantification of Excitation Required for Accurate Friction Estimation","authors":"Jakub Prokes, Anton Albinsson, L. Laine","doi":"10.1109/ITSC.2016.7795966","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795966","url":null,"abstract":"Real-time information about the current tyre-road friction coefficient is important for vehicles with increasing levels of automation to adapt intervention thresholds and vehicle velocity. Online friction estimation poses large challenges in terms of availability and accuracy of the estimate. When estimating the friction based on the slip and force of a tyre, the accuracy of the estimate depends on the current tyre friction utilisation. This paper presents a method to evaluate how large friction utilisation is required to estimate the current friction level within a given error using an effect-based approach. The results indicate that large variations in the required utilisation should be expected for different tyre and road surface combinations when tyre models that only have the slip stiffness and the friction coefficient as parameters (e.g. brush tyre model) are used in the observer to estimate the friction coefficient. For the brush tyre model it varied from 54% in the best case to 94% in the worst case. To illustrate the benefit of quantification of required utilisation, an example use of an estimator based on the brush tyre model is shown at the end of this paper. A simulation is performed to show how fast a sudden drop in friction during braking can be detected using a recursive online estimator. The results show that the estimator is able to detect the change in friction and converge to the new friction level in 0.06 s, which is fast enough to potentially improve the performance of ABS systems of trucks. Tyre models for online friction estimation must hence be chosen with the intended use in mind. The results show that the friction information estimated using the brush tyre model at larger excitation levels is reliable and can therefore be shared with other road users in order to improve the overall safety and efficiency of the transportation system.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130379117","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

Camera to map alignment for accurate low-cost lane-level scene interpretation 相机与地图对齐，以实现精确的低成本车道级场景解释

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795601

Gaoya Cao, Florian Damerow, Benedict Flade, Markus Helmling, J. Eggert

{"title":"Camera to map alignment for accurate low-cost lane-level scene interpretation","authors":"Gaoya Cao, Florian Damerow, Benedict Flade, Markus Helmling, J. Eggert","doi":"10.1109/ITSC.2016.7795601","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795601","url":null,"abstract":"To be able to predict the evolution of the driving context, estimate the expected risks and plan future behavior alternatives, it is crucial to know where traffic participants can go and where they will most likely go. Consequently, for future Advanced Driver Assistance Systems (ADAS), precise, lane-accurate localization of the ego- as well as the other vehicles is a key technology. The proposed standard solutions to lane-accurate localization are usually based on expensive detailed 3D maps and precise absolute position estimation sensors. To the contrary, in this paper we propose to improve the localization of scene items based on state-of-the-art map data, combined with a coarse and cheap position estimation as e.g. provided by standard GNSS. From the map data, we infer the structure of the contextual road geometry, and align it with the road view(s) as provided by a front camera. This results in an improved relative positioning of the sensed items on the map structures, allowing a better scene interpretation. The alignment occurs by best-match search based on a feature comparison between the real road view from the camera and virtually generated road views based on the map considering different assumed ego-vehicle positions. On standard road scenes, we validate the approach, and show that it can be used as a cheap means to support intelligent ADAS and improve localization.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"57 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114054046","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: 32

Consensus with state obfuscation: an application to speed advisory systems 与状态混淆的共识:加速咨询系统的应用

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795959

W. Griggs, G. Russo, R. Shorten

引用次数: 4

Comparison of lateral controllers for autonomous vehicle: Experimental results 自动驾驶汽车横向控制器的比较:实验结果

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795743

Salvador Dominguez, A. Ali, G. Garcia, P. Martinet

{"title":"Comparison of lateral controllers for autonomous vehicle: Experimental results","authors":"Salvador Dominguez, A. Ali, G. Garcia, P. Martinet","doi":"10.1109/ITSC.2016.7795743","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795743","url":null,"abstract":"A good path tracker is one of the keys for the successful development of a self-driving car. In the literature, there exists a wide variety of techniques, some complex and some simple and yet effective in particular scenarios. The choice of the path tracker influences the performance in terms of precision, stability and passenger comfort. This paper addresses the lateral control of a self-driving car in an urban environment, where speed is not high but variations in velocity and curvature are frequent. In choosing a lateral controller, simplicity, efficiency and robustness are considered as the main criteria. In this paper, three classical techniques used for controlling the lateral error are analyzed: pure pursuit, Stanley and a simplified kinematic steering control. Additionally, a novel kinematic controller based on the lateral speed is proposed. A home-made realistic simulation environment has been developed to allow rapid testing of the control laws. The relevance of this work has been demonstrated for all controllers through realistic simulations and experiments. The experimental site is the campus of Ecole Centrale de Nantes, where all control laws have been compared along the same path. A longer path, involving a portion of the ring road of Nantes (France) has been simulated. It involves speeds up to 90 km/h, allowing to extrapolate the comparison results to higher velocities.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115731741","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: 47

Data-driven situation awareness algorithm for vehicle lane change 数据驱动的车辆变道态势感知算法

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795677

Dewei Yi, Jinya Su, Cunjia Liu, Wen‐Hua Chen

{"title":"Data-driven situation awareness algorithm for vehicle lane change","authors":"Dewei Yi, Jinya Su, Cunjia Liu, Wen‐Hua Chen","doi":"10.1109/ITSC.2016.7795677","DOIUrl":"https://doi.org/10.1109/ITSC.2016.7795677","url":null,"abstract":"A good level of situation awareness is critical for vehicle lane change decision making. In this paper, a Data-Driven Situation Awareness (DDSA) algorithm is proposed for vehicle environment perception and projection using machine learning algorithms in conjunction with the concept of multiple models. Firstly, unsupervised learning (i.e., Fuzzy C-Mean Clustering (FCM)) is drawn to categorize the drivers' states into different clusters using three key features (i.e., velocity, relative velocity and distance) extracted from Intelligent Driver Model (IDM). Statistical analysis is conducted on each cluster to derive the acceleration distribution, resulting in different driving models. Secondly, supervised learning classification technique (i.e., Fuzzy k-NN) is applied to obtain the model/cluster of a given driving scenario. Using the derived model with the associated acceleration distribution, Kalman filter/prediction is applied to obtain vehicle states and their projection. The publicly available NGSIM dataset is used to validate the proposed DDSA algorithm. Experimental results show that the proposed DDSA algorithm obtains better filtering and projection accuracy in comparison with the Kalman filter without clustering.","PeriodicalId":189845,"journal":{"name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114881669","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

Distributed graph-based control of convoys of heterogeneous vehicles using curvilinear road coordinates 基于曲线道路坐标的异构车辆车队分布式图控制

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795659

Iñaki Navarro, Florian Zimmermann, Milos Vasic, A. Martinoli

引用次数: 18