Jan-Erik Kallhammer, D. Eriksson, G. Granlund, M. Felsberg, A. Moe, B. Johansson, J. Wiklund, Per-Erik Forssén
{"title":"Near Zone Pedestrian Detection using a Low-Resolution FIR Sensor","authors":"Jan-Erik Kallhammer, D. Eriksson, G. Granlund, M. Felsberg, A. Moe, B. Johansson, J. Wiklund, Per-Erik Forssén","doi":"10.1109/IVS.2007.4290137","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290137","url":null,"abstract":"This paper explores the possibility to use a single low-resolution FIR camera for detection of pedestrians in the near zone in front of a vehicle. A low resolution sensor reduces the cost of the system, as well as the amount of data that needs to be processed in each frame. We present a system that makes use of hot-spots and image positions of a near constant bearing to detect potential pedestrians. These detections provide seeds for an energy minimization algorithm that fits a pedestrian model to the detection. Since false alarms are hard to tolerate, the pedestrian model is then tracked, and the distance-to-collision (DTC) is measured by integrating size change measurements at sub-pixel accuracy, and the car velocity. The system should only engage braking for detections on a collision course, with a reliably measured DTC. Preliminary experiments on a number of recorded near collision sequences indicate that our method may be useful for ranges up to about 10 m using an 80 times 60 sensor, and somewhat more using a 160 times 120 sensor. We also analyze the robustness of the evaluated algorithm with respect to dead pixels, a potential problem for low-resolution sensors.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"31 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":"132127116","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":"Traffic flow effects of Integrated full-Range Speed Assistance (IRSA)","authors":"I. Wilmink, G. Klunder, B. van Arem","doi":"10.1109/IVS.2007.4290282","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290282","url":null,"abstract":"This paper discusses the assessment of the effects of integrated full-range speed assistance (IRSA), using the ITS modeller. The aim of IRSA is to assist drivers in their longitudinal driving task by providing speed advice or speed warnings and cruise control-like functionalities. The effects of the application of IRSA in three scenarios (approaching a traffic jam, approaching a reduced speed limit zone and leaving the head of a queue) are presented. Positive effects on throughput, safety and the environment were achieved. In addition, the paper discusses general aspects of modeling vehicle and driver behavior for co-operative systems, and how this is done in the ITS modeller.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"250 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":"132346936","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}
T. Wada, S. Doi, K. Imai, N. Tsuru, K. Isaji, H. Kaneko
{"title":"Analysis of Braking Behaviors in Car Following Based on A Performance Index for Approach and Alienation","authors":"T. Wada, S. Doi, K. Imai, N. Tsuru, K. Isaji, H. Kaneko","doi":"10.1109/IVS.2007.4290172","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290172","url":null,"abstract":"A new index is proposed to evaluate danger situation in car following based on the hypothesis that drivers are performing approach detection and deciding braking behavior with change of area of a preceding car on the retina. Based on the index, braking behaviors in car following situation is analyzed. The experimental results of a test driver with a real car with constant relative velocity to preceding car show that the braking behaviors can be characterized using the index and the gap. In addition, the results of laboratory experiments using a driving simulator support the results of the real car experiments. We conclude that the drivers' deceleration behavior in moderate danger levels can be characterized well in phase plane of the proposed index and the gap. Furthermore, we also show brake initiation timing can be characterized well based on the index modified by taking preceding car speed into account from the experimental results with a test driver.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"132 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":"132469473","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}
T. Hara, S. Iwasaki, T. Yendo, T. Fujii, M. Tanimoto
{"title":"A New Receiving System of Visible Light Communication for ITS","authors":"T. Hara, S. Iwasaki, T. Yendo, T. Fujii, M. Tanimoto","doi":"10.1109/IVS.2007.4290160","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290160","url":null,"abstract":"This paper discusses a new receiving system for visible light communication applied to intelligent transport systems (ITS). We use a light emitting diode (LED) traffic signal as a transmitter that sends information to vehicles that feature a receiver. There are, however, several problems associated with applying visible light communication to the field of ITS. First, we have to transmit information over long distances; second, the relationship between the transmitter and the receiver position changes with time; and third, the communication is affected by a lot of optical noise. Here, we propose a new receiving system to solve these problems and construct a prototype. Evaluation experiments on the system demonstrate its validity.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"21 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":"130020634","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":"Road Border Recognition Using FIR Images and LIDAR Signal Processing","authors":"B. Fardi, H. Weigel, Gerd Wanielik, K. Takagi","doi":"10.1109/IVS.2007.4290294","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290294","url":null,"abstract":"This paper addresses the detection and tracking of road borders in non cooperative environments. A 2-dimensional scanning LIDAR is used to improve the reliability of the FIR camera based road border recognition. In order to detect the road boarders we apply a Kalman-filter based model fitting strategy. Extracted measurements of the FIR images are transformed into the vehicle coordinate system in order to provide a precise description of the road course ahead. The model description in a common coordinate system -the vehicle coordinate system -allows an easy compensation of the ego-motion and a direct and straight forward fusion of the different sensor data. Both the detection and the estimation were developed and enhanced for the intended sensor configuration. The corresponding mathematical derivations are presented in this paper. Using the range values, delivered by the LIDAR, a more stable estimation of the pitch angle can be achieved. The realization of that is shown in detail. This is used to define the ROI in which the image processing is carried out.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"25 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":"114440326","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}
Manzar Abbas, A. Ferri, M. Orchard, G. Vachtsevanos
{"title":"An Intelligent Diagnostic/Prognostic Framework for Automotive Electrical Systems","authors":"Manzar Abbas, A. Ferri, M. Orchard, G. Vachtsevanos","doi":"10.1109/IVS.2007.4290139","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290139","url":null,"abstract":"Automotive systems are becoming increasingly dependent on electrical components, computer control, and sensors. It has become extremely critical to detect faults in the electrical system and predict the remaining useful life of failing components. This paper introduces an integrated methodology for monitoring, modeling, data processing, fault diagnosis, and failure prognosis of critical electrical components such as the battery. The enabling technologies include signal processing, sensor selection and placement, selection and extraction of optimum condition indicators, and accurate fault diagnosis and failure prognosis algorithms that are based on both the physics of failure models and Bayesian estimation methods. The proposed architecture is implementable on-board an Electronic Control Unit (ECU) requiring minimum computational resources. Potential benefits include reduction in maintenance costs, improved asset reliability and availability and longer life of critical components.","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":"132288744","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}
I. Jeong, Dong hee Lee, Shin Woo Park, J. I. Ko, H. Yoon
{"title":"Automobile driver's stress index provision system that utilizes electrocardiogram","authors":"I. Jeong, Dong hee Lee, Shin Woo Park, J. I. Ko, H. Yoon","doi":"10.1109/IVS.2007.4290190","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290190","url":null,"abstract":"This research intends to develop devices that make drivers rest and to verify in the early stage by effectively detecting the electrocardiogram (ECG) signal, one of the signals of living body, in the vehicle during the operation and providing ANS information and degree of stress. Recording the regular activity of heart clinically, ECG reflects the health state of subject as well as checks the degree of operation of autonomic nervous system through analysis of Heart Rate Variability (HRV). As this alteration of autonomic nervous system predicts the stress level of drivers during operation and provides the possibility of warning by continuous detection, it may lead to the recognition and safe driving of driver by detecting the stress during driving altered by diverse factors such as changing mood, bio rhythm, condition, fatigue, boredom or disease and preventing the driver from reaching the inappropriate state for driving. Thus, the reliability and utilization level of system was confirmed to be satisfactory by providing new ECG measuring method familiar to drivers and comparing it with the result of judging drivers' emotion through this research.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"4 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":"128533138","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":"Speed Limitation Based on an Advanced Curve Warning System","authors":"S. Glaser, L. Nouvelière, B. Lusetti","doi":"10.1109/IVS.2007.4290196","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290196","url":null,"abstract":"This paper presents an integrated system to prevent driver from taking a curve with a dangerous speed. The integrated system underlines three functions developed as follows : the first function consists in knowing the geometry characteristics of the coming road; the second function has to compute a safe speed according to the road section, the vehicle and the driver; the last function must impose the speed control of the vehicle in order to achieve a safe speed in the case that the driver does not achieve it.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"21 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":"128579548","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":"Field Operational Test \"The Assisted Driver\"","authors":"T. Alkim, G. Bootsma, S. Hoogendoorn","doi":"10.1109/IVS.2007.4290281","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290281","url":null,"abstract":"In order to get a better understanding of how driving with advanced driver assistance (ADA) systems effects traffic flow in terms of safety, throughput and environment in practice a field operational test (FOT), called \"the assisted driver\" was conducted by the dutch road authority Rijkswaterstaat in The Netherlands. The main component of this project was the so-called full traffic FOT in which 20 cars, equipped with adaptive cruise control (ACC) and lane departure warning, were driven in mixed traffic for five months. During this period a vast amount of data was collected by installed data-loggers in order to perform an objective impact assessment. The results are quite promising. Driving with ACC and LDW improves traffic safety with approximately 8% and fuel consumption decreases with 3%. Associated emissions can decrease up to 10% and there seems to be no direct negative effect for throughput.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"51 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":"133307179","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":"Bondgraph Robot Soccer Simulation for Minimum Time Attacker Maneuvers","authors":"M. Jarrah, F.M. Al-Saleem","doi":"10.1109/IVS.2007.4290224","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290224","url":null,"abstract":"Dynamic model of a differential drive soccer player using bondgraph method is presented. Minimum time maneuvers for the attacker behavior based on the model derived using bondgraph methodology are studied. The paper presents a new cooperative attacking behavior for two agents in a real time robot soccer game. This behavior consists of four hierarchy levels, the intelligent level, path planning level, path following and velocity controller level. This paper reports the Simulation and experimental results of applying those hierarchy levels on the AUS robot soccer team.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"1 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":"121753638","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}