2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)最新文献

Characterization of Multiple 3D LiDARs for Localization and Mapping Performance using the NDT Algorithm 使用NDT算法对多个3D激光雷达进行定位和映射性能的表征

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669244

Alexander Carballo, Abraham Monrroy, D. Wong, Patiphon Narksri, Jacob Lambert, Yuki Kitsukawa, E. Takeuchi, Shinpei Kato, K. Takeda

引用次数: 4

HD Map Errors Detection using Smoothing and Multiple Drives 使用平滑和多个驱动器的高清地图错误检测

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669237

Anthony Welte, Philippe Xu, P. Bonnifait, Clément Zinoune

引用次数: 2

Understanding and Predicting Overtaking and Fold-Down Lane-Changing Maneuvers on European Highways Using Naturalistic Road User Data* 利用自然道路用户数据理解和预测欧洲高速公路上的超车和折返变道行为*

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669210

Basma Khelfa, A. Tordeux

{"title":"Understanding and Predicting Overtaking and Fold-Down Lane-Changing Maneuvers on European Highways Using Naturalistic Road User Data*","authors":"Basma Khelfa, A. Tordeux","doi":"10.1109/ivworkshops54471.2021.9669210","DOIUrl":"https://doi.org/10.1109/ivworkshops54471.2021.9669210","url":null,"abstract":"Understanding and predicting lane-changing in-tents on highways is fundamental for multi-lane cruise control systems and automated driving. Many studies have been carried out using the NGSIM data-set of trajectories on US highways with symmetric lane-changing behaviors. In this contribution, we present a statistical analysis of discretionary lane-changing maneuvers on German two-lane highways imposing overtaking to the left only (highD project). We aim to separately identify the underlying mechanisms that motivate drivers to overtake and to fold-down. The analysis is done using principal component analysis and logistic regressions based on speed-difference and distance variables with the four surrounding vehicles. The results show that two different mechanisms operate in case of overtaking and fold-down. Overtaking can be explained monotonically with only three variables: the distance and speed difference with the predecessor and the speed difference with the following vehicle on the adjacent lane. Fold-down is a more complex process involving more variables and relationships. The predictions based on the logistic regression are accurate for lane-keeping but limited for lane-changing maneuver, especially for fold-down. The limitations are due to non-linear behaviors of the fold-down maneuver for which the logistic regression is insensitive.","PeriodicalId":256905,"journal":{"name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129788016","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

Spatial Sampling and Integrity in Lane Grid Maps 车道网格地图的空间采样和完整性

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669257

Corentin Sanchez, Philippe Xu, Alexandre Armand, P. Bonnifait

{"title":"Spatial Sampling and Integrity in Lane Grid Maps","authors":"Corentin Sanchez, Philippe Xu, Alexandre Armand, P. Bonnifait","doi":"10.1109/ivworkshops54471.2021.9669257","DOIUrl":"https://doi.org/10.1109/ivworkshops54471.2021.9669257","url":null,"abstract":"Autonomous vehicles have to take cautious decisions when driving in complex urban scenarios. Situation understanding is a key point towards safe navigation. High Definition maps supply different types of prior information such as road network topology, geometric description of the road, and semantic information including traffic laws. Conjointly with the perception system, they provide representations of the static environment and allow to model interactions. For safety issues, it is crucial to get a reliable understanding of the vehicle situation to avoid inappropriate decisions. Confidence on the information supplied to decision-making must be therefore provided. This paper proposes a spatial occupancy information representation at lane level with Lane Grid Maps (LGM). Based on areas of interest for the ego vehicle and sampled in the along-track direction, perception data is augmented to provide non-misleading information to the decision-making at a tactical level. An advantage of this representation is its ability to manage information integrity thanks to a good spatial sampling choice. The proposed approach takes into account the uncertainty of the ego vehicle localization, which has an impact on the estimated spatial occupancy of the perceived objects. This paper provides a method to set the proper sampling step in order to avoid oversampling and subsampling of the LGM for a given integrity risk level. The approach is evaluated with real data obtained thanks to several experimental vehicles.","PeriodicalId":256905,"journal":{"name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134276294","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

Pruning CNNs for LiDAR-based Perception in Resource Constrained Environments 资源受限环境下基于激光雷达感知的cnn剪枝

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669256

M. Vemparala, Anmol Singh, Ahmed Mzid, Nael Fasfous, Alexander Frickenstein, Florian Mirus, Hans-Joerg Voegel, N. Nagaraja, W. Stechele

引用次数: 3

Parameter-Based Testing and Debugging of Autonomous Driving Systems 基于参数的自动驾驶系统测试与调试

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669254

Paolo Arcaini, Alessandro Calò, F. Ishikawa, Thomas Laurent, Xiaoyi Zhang, Sajid Ali, Florian Hauer, Anthony Ventresque

引用次数: 4

POMDP Planning at Roundabouts 环形交叉路口的POMDP规划

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669232

Henrik Bey, Moritz Sackmann, Alexander Lange, J. Thielecke

引用次数: 4

CFTrack: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking CFTrack:用于3D多目标跟踪的基于中心的雷达和相机融合

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669223

Ramin Nabati, Landon Harris, H. Qi

{"title":"CFTrack: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking","authors":"Ramin Nabati, Landon Harris, H. Qi","doi":"10.1109/ivworkshops54471.2021.9669223","DOIUrl":"https://doi.org/10.1109/ivworkshops54471.2021.9669223","url":null,"abstract":"3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous vehicles are usually equipped with different sensor modalities to improve accuracy and reliability. While sensor fusion has been widely used in object detection networks in recent years, most existing multi-object tracking algorithms either rely on a single input modality, or do not fully exploit the information provided by multiple sensing modalities. In this work, we propose an end-to-end network for joint object detection and tracking based on radar and camera sensor fusion. Our proposed method uses a center-based radar-camera fusion algorithm for object detection and utilizes a greedy algorithm for object association. The proposed greedy algorithm uses the depth, velocity and 2D displacement of the detected objects to associate them through time. This makes our tracking algorithm very robust to occluded and overlapping objects, as the depth and velocity information can help the network in distinguishing them. We evaluate our method on the challenging nuScenes dataset, where it achieves 20.0 AMOTA and outperforms all vision-based 3D tracking methods in the benchmark, as well as the baseline LiDAR-based method. Our method is online with a runtime of 35ms per image, making it very suitable for autonomous driving applications.","PeriodicalId":256905,"journal":{"name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122074455","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

Dynamic Reconfiguration of Automotive Architectures Using a Novel Plug-and-Play Approach 基于新型即插即用方法的汽车结构动态重构

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.1109/ivworkshops54471.2021.9669222

Hannes Stoll, D. Grimm, Marc Schindewolf, Michel Brodatzki, E. Sax

{"title":"Dynamic Reconfiguration of Automotive Architectures Using a Novel Plug-and-Play Approach","authors":"Hannes Stoll, D. Grimm, Marc Schindewolf, Michel Brodatzki, E. Sax","doi":"10.1109/ivworkshops54471.2021.9669222","DOIUrl":"https://doi.org/10.1109/ivworkshops54471.2021.9669222","url":null,"abstract":"Innovation cycles in the automotive industry are shortening due to influences from the IT world and trends such as automated driving. In contrast, the life cycles of the vehicles remain substantially longer. This gives rise to problems such as the lack of availability of essential components. In addition, new business cases are emerging, such as retrofitting functionality at the customer’s site. However, the electrical/electronical and software architectures of today’s vehicles do not offer the required degree of flexibility during runtime.This paper therefore presents a plug-and-play approach to dynamically reconfigure vehicle architectures. This includes the registration of new components such as ECUs or intelligent sensors/actuators in the vehicle, including the transfer of required software components to the vehicle’s software repository. The focus here is on the exchange of components based on socalled capabilities: As a consequence, it is not only possible to dynamically switch to another capability in the event of a failure, but also when a capability with higher-rated properties becomes available after adding new components. This approach is demonstrated using two cameras that are switched between at runtime. Our findings indicate that feasible switching times can be achieved and that the approach is therefore suitable for productive use.","PeriodicalId":256905,"journal":{"name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","volume":"148 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125871375","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: 6

Fundamental Design Criteria for Logical Scenarios in Simulation-based Safety Validation of Automated Driving Using Sensor Model Knowledge 基于传感器模型知识的自动驾驶仿真安全验证中逻辑场景的基本设计准则

2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) Pub Date : 2021-07-11 DOI: 10.26083/TUPRINTS-00018950

Lukas Elster, Clemens Linnhoff, Philipp Rosenberger, S. Schmidt, R. Stark, H. Winner

引用次数: 1