发布求助
文献互助 智能选刊 最新文献

2013 IEEE Intelligent Vehicles Symposium (IV)最新文献

筛选
英文 中文
Intelligent traction control in electric vehicles using an acoustic approach for online estimation of road-tire friction 基于声学方法在线估计道路-轮胎摩擦的电动汽车智能牵引控制
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629652
Pinar Boyraz Baykas, Daghan Dogan
{"title":"Intelligent traction control in electric vehicles using an acoustic approach for online estimation of road-tire friction","authors":"Pinar Boyraz Baykas, Daghan Dogan","doi":"10.1109/IVS.2013.6629652","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629652","url":null,"abstract":"Torque control of electric motor via current gives the advantage of simplicity and fast response over the complicated torque control of an internal combustion engine which may depend on several parameters ranging from fuel valve angle to gas pedal position and several delay factors. Although traction control system (TCS) for in-wheel-motor (IWM) configuration electric vehicles (EV) has advantages, the performance of the control system, as in most traction control cases, still depends on (1)accurate estimation of road-tire friction characteristics and (2) measurement of slip ratio requiring expensive sensors for obtaining wheel and chassis velocity. The main contribution of this work is design and integration of an acoustic road-type estimation system (ARTE), which significantly increases the robustness and reduces the cost of TCS in IWM configuration EVs. Unlike complicated and expensive sensor units, the system uses a simple data collection set-up including a low-cost cardioid microphone directed to vicinity of road-tire interface. The acoustic data is then reduced to features such as linear predictive, cepstrum and power spectrum coefficients. For robust estimation, only some of these coefficients are selected based on minimum intra-class variance and maximum inter-class distance criteria to train an artificial neural network (ANN) for classification. The road types can be grouped into: Asphalt, gravel, stone and snow with a correct classification rate of 91% for the test data. The predicted road-type is used to select the correct friction characteristic curve (μ-λ) which helps calculating the appropriate torque command for the particular road-tire condition. The system has been evaluated in extensive simulations and the results show that extreme torque values are supressed stabilising the vehicle for several driving scenarios in a more energy-efficient and robust manner compared to previous systems.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131098865","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
Affective interaction with a companion robot in an interactive driving assistant system 交互式驾驶辅助系统中与同伴机器人的情感交互
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629661
Jeong-Yean Yang, Yong-Ho Jo, Jae-Chul Kim, D. Kwon
{"title":"Affective interaction with a companion robot in an interactive driving assistant system","authors":"Jeong-Yean Yang, Yong-Ho Jo, Jae-Chul Kim, D. Kwon","doi":"10.1109/IVS.2013.6629661","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629661","url":null,"abstract":"Driving assistant systems are becoming the attractive service tasks in the field of intelligent robotics. Humans meet a variety of situations while driving cars and robotic systems help humans to understand how surrounding situations change and how robot systems are aware of given situations. From the viewpoint of interaction performance, proper situation awareness by a robotic assistant in a car and the relevant determination of corresponding reactions are crucial prerequisites for long term interaction between a human driver and a car's robotic system. In this paper, we focus on preserving human-robot interaction for driving situations, considering how many types of cognitive situation occur and how affective interaction can be designed for the robotic driving assistant. The appropriateness of the driving situation and of the robotic reactions are testified in our experiment system, including the development of a virtual driving environment and tablet-based robotic agent system.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128858733","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
A new eco-driving assistance system for a light vehicle: Energy management and speed optimization 轻型汽车新型生态驾驶辅助系统:能量管理和速度优化
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629668
Q. Cheng, L. Nouvelière, O. Orfila
{"title":"A new eco-driving assistance system for a light vehicle: Energy management and speed optimization","authors":"Q. Cheng, L. Nouvelière, O. Orfila","doi":"10.1109/IVS.2013.6629668","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629668","url":null,"abstract":"This paper presents a new method to model and optimize the vehicle fuel consumption and its speed in the design of an eco-driving assistance system (EDAS) developed within the EU ecoDriver project. The main objective of this EDAS is to combine a precise fuel consumption model with a robust optimization module. An optimal speed profile is obtained to reduce the energy consumption. The gear management is also included in this procedure. The instantaneous fuel consumption rate is expressed as a piecewise polynomial of the instantaneous engine speed and engine torque. A dynamic programming technique is used to optimize the vehicle fuel consumption considering the safety requirements. The real vehicle experiments show the good performance of the piecewise model. The algorithm is implementable in a light vehicle Renault Clio 3.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131670441","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: 34
Robust non-linear smoothing for vehicle state estimation 鲁棒非线性平滑车辆状态估计
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629464
Gabriel Agamennoni, Stewart Worrall, James R. Ward, E. Nebot
{"title":"Robust non-linear smoothing for vehicle state estimation","authors":"Gabriel Agamennoni, Stewart Worrall, James R. Ward, E. Nebot","doi":"10.1109/IVS.2013.6629464","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629464","url":null,"abstract":"This paper presents a robust, non-linear smoothing algorithm and develops the theory behind it. This algorithm is extremely robust to outliers and missing data and handles state-dependent noise. Implementing it is straightforward as it consists mainly of two sub-routines: (a) the Rauch-Tung-Striebel recursions, or Kalman smoother; and (b) a backtracking line search strategy. The computational load grows linearly with the number of data because the algorithm preserves the underlying structure of the problem. Global convergence to a local optimum is guaranteed, under mild assumptions.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115224994","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
Unsupervised motion learning from a moving platform 从移动平台进行无监督运动学习
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVWORKSHOPS.2013.6615234
Victor A. Romero-Cano, Juan I. Nieto, Gabriel Agamennoni
{"title":"Unsupervised motion learning from a moving platform","authors":"Victor A. Romero-Cano, Juan I. Nieto, Gabriel Agamennoni","doi":"10.1109/IVWORKSHOPS.2013.6615234","DOIUrl":"https://doi.org/10.1109/IVWORKSHOPS.2013.6615234","url":null,"abstract":"Learning motion patterns in dynamic environments is a key component of any context-aware robotic system, and probabilistic mixture models provide a sound framework for mining these patterns. This paper presents an approach for learning motion models from trajectories provided by the tracking system of a moving platform. We present a learning approach in which a Linear Dynamical System (LDS) is augmented with a discrete hidden variable that has a number of states equal to the number of behaviours in the environment. As a result, a mixture of linear dynamical systems (MLDSs) capable of explaining several motion behaviours is developed. The model is learned by means of the Expectation Maximization (EM) algorithm.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115633551","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
Driving simulation for analyzing the safety and fuel saving effects of a connected bus system on freeways 高速公路上联网公交系统的安全性和节油效果仿真分析
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629535
Chien-Yen Chang, Chih-Hao Wei
{"title":"Driving simulation for analyzing the safety and fuel saving effects of a connected bus system on freeways","authors":"Chien-Yen Chang, Chih-Hao Wei","doi":"10.1109/IVS.2013.6629535","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629535","url":null,"abstract":"This study conducts a bus driving simulation to analyze the safety and fuel saving effects of a connected bus system in freeway car-following conditions. Based on two assumptions that \"the shorter the perception-reaction time, the safer the bus drivers' responses to a sudden event\" and \"the smaller the deceleration rate, the more fuel saving of bus driving\", bus driving characteristics are collected and analyzed, including perception-reaction time and deceleration rate. After basic statistical analysis and t-test, the experimental results indicate that the average perception-reaction time of bus drivers in the connected bus system has become shorter significantly when an emergency event happens. The average deceleration rate in the connected bus system is also reduced when the range of warning timing is less than 70 meters between the lead vehicle and the bus although the difference is not significant. The performance of the connected bus system is evaluated and verified.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114637925","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
Lidar Scan matching EKF-SLAM using the differential model of vehicle motion 基于车辆运动差分模型的激光雷达扫描匹配EKF-SLAM
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629582
Daobin Wang, Huawei Liang, Tao Mei, Hui Zhu, Jing Fu, Xiang Tao
{"title":"Lidar Scan matching EKF-SLAM using the differential model of vehicle motion","authors":"Daobin Wang, Huawei Liang, Tao Mei, Hui Zhu, Jing Fu, Xiang Tao","doi":"10.1109/IVS.2013.6629582","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629582","url":null,"abstract":"Simultaneous localization and mapping is a mobile robot positioning themselves and creating the map of the environment at the same time, which is the core problem of the vehicle achieve the authentic intelligent. EKF-SLAM is a widely used SLAM algorithm based on the extended Kaiman Alter. The EKF-SLAM proposed in this paper based on the differential model of vehicle motion, which consider the vehicle trajectory as many small straight Une segments. The algorithm effectively reduce the positioning error compared with the dead reckoning and has more simplified and generic model compared with the EKF-SLAM algorithm based on vehicle kinematics model. Meanwhile, it has a lower requirements on the hardware acquisition system. The algorithm is more robust than the traditional EKF-SLAM So the algorithm will have a certain reference value on the SLAM research and provide a new way on the SLAM research based on the differential model of vehicle motion.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117015867","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: 25
Detecting parallel moving vehicles with monocular omnidirectional side cameras 用单眼全方位侧面摄像头检测平行移动车辆
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629527
Kai Schueler, M. Raaijmakers, Stephan Neumaier, U. Hofmann
{"title":"Detecting parallel moving vehicles with monocular omnidirectional side cameras","authors":"Kai Schueler, M. Raaijmakers, Stephan Neumaier, U. Hofmann","doi":"10.1109/IVS.2013.6629527","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629527","url":null,"abstract":"In this paper, we present a strategy for the detection and tracking of dynamic objects exploiting monocular omnidirectional side cameras. The main novelty of the approach is the use of solely motion based (optical flow) extracted image features from omnidirectional side cameras to continuously track parallel moving vehicles using a novel clustering algorithm. Firstly, optical flow features are extracted from side camera images. Secondly, these extracted features are identified as belonging to dynamic obstacles via positive-depth, positive-height, and epipolar constraint. A new method for constraint evaluation on omnidirectional cameras is presented, incorporating uncertainties of ego motion measurements. The features are clustered based on spatial closeness and optical flow similarity. Results of experiments, with real sensor data from a test vehicle, are presented.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":" 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120834159","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: 5
An experimental study on longitudinal driving assistance based on model predictive control 基于模型预测控制的纵向驾驶辅助试验研究
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629468
H. Okuda, Y. Tazaki, Tatsuya Suzuki
{"title":"An experimental study on longitudinal driving assistance based on model predictive control","authors":"H. Okuda, Y. Tazaki, Tatsuya Suzuki","doi":"10.1109/IVS.2013.6629468","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629468","url":null,"abstract":"This paper presents a novel personalized driver assistance system(PDAS) based on the model predictive control(MPC) together with a continuous/discrete hybrid dynamical system model of the driving behavior. First of all, the driving behavior is identified as the piecewise ARX model. Then, it is explicitly embedded in the optimization problem for finding the optimal assisting output. Since the driving behavior includes some binary variables, the optimization problem is formulated as the mixed integer programming. Some adaptation mechanism to accommodate to the change of the situation is particularly discussed. Finally, the proposed scheme is tested by using the real vehicle wherein the real-time assisting control based on MPC is implemented.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129398272","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
Optimal controls of fleet trajectories for fuel and emissions 燃油和排放的最佳控制
2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629606
Xiaoliang Ma
{"title":"Optimal controls of fleet trajectories for fuel and emissions","authors":"Xiaoliang Ma","doi":"10.1109/IVS.2013.6629606","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629606","url":null,"abstract":"Increased demand for transport, coupled with energy, climate and environmental concerns, has put more and more pressure for improved performance on traffic systems. The recent development in vehicle-to-infrastructure (V2I) communication provides an effective means for continuous management of vehicle driving. This study presents an essential step of the work towards a dynamic fleet management system that takes advantages of real-time traffic information and communication. Based on the optimal control theory, a methodological approach is developed to control the environmental impacts of live vehicle fleets. In particular, vehicle trajectories that minimize local environmental objectives are derived by applying a discrete dynamic programming method. Numerical examples show that the method is promising for local V2I based traffic management applications and can be further extended for more complex optimal control problems in dynamic fleet management.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128960185","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: 5
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信