J. Gunnarsson, L. Svensson, L. Danielsson, F. Bengtsson
{"title":"Tracking vehicles using radar detections","authors":"J. Gunnarsson, L. Svensson, L. Danielsson, F. Bengtsson","doi":"10.1109/IVS.2007.4290130","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290130","url":null,"abstract":"This paper is concerned with the problem of tracking vehicles using radar detections. In particular, we deal with problems where multiple detections are received from each target. According to recent studies, automotive radar sensors often receive detections from a discrete set of reflection centers. From these results, we develop a family of sensor models suitable for tracking. A significant difficulty in performing tracking using models from this family is that it involves solving a data association problem with a large number of association hypotheses. To reduce the complexity of this problem, we propose a framework where similar hypotheses are joined into groups. Following this approximation, basic data association algorithms can be implemented and initial studies using both simulated data and real measurements show a promising performance.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122209868","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":"Propagation Characteristics of Dynamic Information Collected by In-Vehicle Sensors in a Vehicular Network","authors":"K. Ozbay, H. Nassif, S. Goel","doi":"10.1109/IVS.2007.4290262","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290262","url":null,"abstract":"In this paper we see vehicles as mobile sensors and disseminators of information about their surroundings. This emerging concept goes beyond the past efforts of dealing only with traffic congestion that has become a part of daily life for most of us. Many researchers worked on various congestion information systems that are mainly based on the concept of collecting and disseminating traffic information through the use of vehicles roaming throughout the transportation network. Today a number of commercial solutions exist for disseminating traffic information (e.g., Traffic.com, Metrocommute, Etak-Traffic). However, these solutions are plagued by prohibitive deployment and maintenance cost that prevents widespread deployment. As an alternative, solutions based on peer-to-peer architecture have also been proposed. But most these systems are limited with collecting and disseminating the concept of travel time or congestion information. In this paper, we propose a three layered implementation architecture that will use vehicles to collect, process and disseminate information other than travel time including visibility, pavement, and weather conditions. We first describe vehicle-based experiments that we conducted to assess the feasibility of the proposed system. Then, we use a well-calibrated microscopic traffic simulation model of a relatively large network in New Jersey to test the speed and the range of information dissemination.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"33 5 Pt B 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116136820","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}
D. Bétaille, A. Chapelon, B. Lusetti, M. Kais, D. Millescamps
{"title":"High Integrity Reference Trajectory for Benchmarking Land Navigation Data Fusion Methods","authors":"D. Bétaille, A. Chapelon, B. Lusetti, M. Kais, D. Millescamps","doi":"10.1109/IVS.2007.4290138","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290138","url":null,"abstract":"In the framework of a joint initiative of several French laboratories that investigate land navigation, the authors have designed an architecture and tests protocol for benchmarking altogether data fusion methods applied on a collection of sensors covering the complete range of quality. Special attention has been given to sensors data timestamping since the benchmarking is based on the comparison of computed trajectories with the reference trajectory, so called because its computation fuses the most advanced sensors. A device called SensorHub that allows hardware based multi-sensor data timestamping was used. Real-time but also post-process estimations of the reference trajectory where provided by the combination of kinematic GPS and LandlNS, a high precision IMU provided by IXSea. Beyond the precision of these estimated trajectories (that highly depends on how long the roving GPS receiver was masked), the relevance of the computed integrity is emphasized in this article.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"23 14","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113942324","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":"Modeling and PD Control of a Quadrotor VTOL Vehicle","authors":"B. Erginer, E. Altuğ","doi":"10.1109/IVS.2007.4290230","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290230","url":null,"abstract":"In this paper, we present a model of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as quadrotor aircraft. And we explained its control architecture including vision based control. Quadrotors have generated considerable interest in both the control community due to their complex dynamics and military because of their advantages over regular air vehicles. The proposed dynamical model which comprises gyroscopic effects and its control strategies can be source for future works.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124901042","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":"An Obstacle Extraction Method Using Virtual Disparity Image","authors":"著者 Suganuma, Fujiwara N Naoki, 菅沼 著者別表示, 直樹","doi":"10.1109/IVS.2007.4290157","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290157","url":null,"abstract":"The driving support system is one of most important research field in intelligent transport system (ITS). In this paper, we address an obstacle extraction method for driving support system. The stereovision system is one of most suit sensor to recognize details of environment. On the other hand, a disparity image obtained by stereovision system has quite a lot of information. Therefore an efficient algorithm to analyze obtained disparity image is strongly demanded. If the road surface is extracted, obstacles can be easily extracted by evaluating whether one object touch on a road or not. In this paper, we propose a novel method to estimate three-dimensional road surface position by using virtual disparity image. Moreover, an obstacle extraction method is expressed.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121500986","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 Comparison of Color and Infrared Stereo Approaches to Pedestrian Detection","authors":"S. Krotosky, M. Trivedi","doi":"10.1109/IVS.2007.4290095","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290095","url":null,"abstract":"This paper presents an analysis of color and infrared stereo approaches to pedestrian detection. We design a four camera experimental testbed consisting of two color and two infrared cameras that allows for synchronous capture and direct frame-by-frame comparison of pedestrian detection approaches. We incorporate this four camera system in a test vehicle and conduct comparative experiments of stereo-based approaches to obstacle detection using color and infrared imagery. A detailed analysis of these experiments shows the robustness of both color and infrared stereo imagery to generate the dense stereo maps necessary for robust object detection and motivates investigation of color and infrared features that can be used to further classify detected obstacles into pedestrian regions. The complementary nature of color and infrared features gives rise to a discussion of a feature fusion techniques, including a cross-spectral stereo solution to pedestrian detection.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122426540","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":"Automated Vehicle Mobile Guidance System for Parking Assistance","authors":"N. Hashimoto, S. Kato, N. Minobe, S. Tsugawa","doi":"10.1109/IVS.2007.4290186","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290186","url":null,"abstract":"A new concept that a vehicle, which does not have fully automated functions but has partial intelligent functions, is manually or automatically guided to an assigned destination position with a guidance system has been proposed. This paper describes the concept of the system and reports the experimental results of the guidance to a parking space with the proposed system. The experimental study has been conducted to show the feasibility of the system proposed. In the experiments, a vehicle was guided with a mobile guidance system that measures the position and the heading of a guided vehicle to instruct it the steering and the velocity to its goal. The system is featured by that a few intelligent mobile guidance systems will assist many ordinary vehicles in dedicated areas including parking lots.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127702711","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":"ACC with enhanced situation awareness to reduce behavior adaptations in lane change situations","authors":"J. Freyer, B. Deml, M. Maurer, B. Farber","doi":"10.1109/IVS.2007.4290247","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290247","url":null,"abstract":"This paper describes a refined lane change support function to enhance current Adaptive Cruise Control (ACC). Its design is based on a field experimental highway study in which experienced participants were asked to drive first without and afterwards with ACC support. The first condition serves as a baseline to identify different driving styles (fluid, moderate, and comfortable) within the sample and to describe the drivers' manual lane change behavior. By contrasting both experimental conditions, it is analyzed how the lane change behavior is altered by ACC and a situation aware ACC system with a lane change support function is described.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134109144","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":"Estimation of the Unknown Inputs and Vertical Forces of the Heavy Vehicle Via Higher Order Sliding Mode Observer","authors":"H. Imine, L. Fridman","doi":"10.1109/IVS.2007.4290239","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290239","url":null,"abstract":"In this work, A new method is developed to estimate the unknown inputs of heavy vehicle. These inputs represent road profile which is very interesting since is used to estimate the vertical forces acting on the wheels. We reconstruct these unknown inputs by using higher order sliding mode observer. First, we estimate speeds and accelerations of heavy vehicle in finite time.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"226 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114424542","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}
R. van Tongeren, O. Gietelink, B. de Schutter, M. Verhaegen
{"title":"Traffic Modelling Validation of Advanced Driver Assistance Systems","authors":"R. van Tongeren, O. Gietelink, B. de Schutter, M. Verhaegen","doi":"10.1109/IVS.2007.4290289","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290289","url":null,"abstract":"This paper presents a microscopic traffic model for the validation of advanced driver assistance systems. This model describes single-lane traffic and is calibrated with data from a field operational test. To illustrate the use of the model, a Monte Carlo simulation of single-lane traffic scenarios is executed with application to cooperative adaptive cruise control system. The model is then validated by comparing the simulation results with data gathered from test drives.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114525483","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}