2015 IEEE Intelligent Vehicles Symposium (IV)最新文献_第4页

Fast symbolic road marking and stop-line detection for vehicle localization 用于车辆定位的快速符号道路标记和停车线检测

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225684

J. Suhr, H. Jung

引用次数: 24

Overtaking maneuvers by non linear time scaling over reduced set of learned motion primitives 基于非线性时间尺度的超车机动简化学习运动原语集

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225672

Vishakh Duggal, K. Bipin, Ashutosh Kumar Singh, Bharath Gopalakrishnan, B. Bharti, A. Khiat, K. Krishna

{"title":"Overtaking maneuvers by non linear time scaling over reduced set of learned motion primitives","authors":"Vishakh Duggal, K. Bipin, Ashutosh Kumar Singh, Bharath Gopalakrishnan, B. Bharti, A. Khiat, K. Krishna","doi":"10.1109/IVS.2015.7225672","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225672","url":null,"abstract":"Overtaking of a vehicle moving on structured roads is one of the most frequent driving behavior. In this work, we have described a Real Time Control System based framework for overtaking maneuver of autonomous vehicles. Proposed framework incorporates Intelligent Planning and Modular control modules. Intelligent Planning module of the framework enables the vehicle to intelligently select the most appropriate behavioral characteristics given the perceived operating environment. Subsequently, Modular control module reduces the search space of overtaking trajectories through an SVM based learning approach. These trajectories are then examined for possible future time collision using Velocity Obstacle. It employs non linear time scaling that provides for continuous trajectories in the space of linear and angular velocities to achieve continuous curvature overtaking maneuvers respecting velocity and acceleration bounds. Further time scaling also can scale velocities to avoid collisions and can compute a time optimal trajectory for the learned behavior. The preliminary results show the appropriateness of our proposed framework in virtual urban environment.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128505758","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: 3

Observing behaviors at intersections: A review of recent studies & developments 观察十字路口的行为:最近的研究和发展综述

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225855

Mohammad Shokrolah Shirazi, B. Morris

引用次数: 33

A practical trajectory planning framework for autonomous ground vehicles driving in urban environments 在城市环境中自动驾驶地面车辆的实用轨迹规划框架

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225840

Xiaohui Li, Zhenping Sun, Zhen He, Q. Zhu, Daxue Liu

{"title":"A practical trajectory planning framework for autonomous ground vehicles driving in urban environments","authors":"Xiaohui Li, Zhenping Sun, Zhen He, Q. Zhu, Daxue Liu","doi":"10.1109/IVS.2015.7225840","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225840","url":null,"abstract":"This paper presents a practical trajectory planning framework towards fully autonomous driving in urban environments. Firstly, based on the behavioral decision commands, a reference path is extracted from the digital map using the LIDAR-based localization information. The reference path is refined and interpolated via a nonlinear optimization algorithm and a parametric algorithm, respectively. Secondly, the trajectory planning task is decomposed into spatial path planning and velocity profile planning. A closed-form algorithm is employed to generate a rich set of kinematically-feasible spatial path candidates within the curvilinear coordinate framework. At the same time, the velocity planning algorithm is performed with considering safety and smoothness constraints. The trajectory candidates are evaluated by a carefully developed objective function. Subsequently, the best collision-free and dynamically-feasible trajectory is selected and executed by the trajectory tracking controller. We implemented the proposed trajectory planning strategy on our test autonomous vehicle in the realistic urban traffic scenarios. Experimental results demonstrated its capability and efficiency to handle a variety of driving situations, such as lane keeping, lane changing, vehicle following, and static and dynamic obstacles avoiding, while respecting traffic regulations.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130192253","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: 28

Eco-driven signal control and eco-driving of hybrid city buses 混合动力城市客车生态驱动信号控制与生态驾驶

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225779

M. Haberl, M. Fellendorf

引用次数: 2

A constrained VFH algorithm for motion planning of autonomous vehicles 自动驾驶汽车运动规划的约束VFH算法

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225766

Panrang Qu, Jianru Xue, Liang Ma, Chao Ma

引用次数: 13

Enhanced maximum tire-road friction coefficient estimation based advanced emergency braking algorithm 基于改进的高级紧急制动算法的最大轮胎路面摩擦系数估计

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225796

Taewoo Kim, Jaewan Lee, K. Yi

引用次数: 12

Compensation of wireless communication delay for integrated risk management of automated vehicle 面向自动驾驶汽车综合风险管理的无线通信延迟补偿

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225904

Donghoon Shin, K. Yi

{"title":"Compensation of wireless communication delay for integrated risk management of automated vehicle","authors":"Donghoon Shin, K. Yi","doi":"10.1109/IVS.2015.7225904","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225904","url":null,"abstract":"For the generic assessment and the total management of collision risks in urban driving situations, it is important to estimate and represent the target vehicles' behavior such as yaw rate, absolute velocity and acceleration which are state of the target vehicle. To achieve this, this paper presents a compensation of wireless communication delay for integrated risk management of automated vehicle. Recent developments in vehicle onboard computers and wireless communications devices, also known as dedicated short-range communication (DSRC) devices allow the exchange of information between vehicles (inter-vehicle communications). In an application of vehicle to vehicle (V2V) communication, the most important issue is to handle delay which has a negative impact on safety issue since communication networks generally introduce delays. To cope with this problem, the inter-vehicle communication system is firstly modelled by reflecting signal characteristic. To compensate the communication delay, state augmented estimation algorithm is used based on extended Kalman filters (EKF). The performance of the proposed estimation algorithm is verified via real time simulations.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127865101","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

Efficient scene parsing by sampling unary potentials in a fully-connected CRF 在全连接CRF中通过采样一元电位进行高效场景解析

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225786

L. Horne, J. Álvarez, M. Salzmann, N. Barnes

{"title":"Efficient scene parsing by sampling unary potentials in a fully-connected CRF","authors":"L. Horne, J. Álvarez, M. Salzmann, N. Barnes","doi":"10.1109/IVS.2015.7225786","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225786","url":null,"abstract":"Efficient, fully-connected CRF inference enables fast semantic labelling of images. However, this requires high-quality unary potentials to be computed, which is currently time-consuming. While some recent work attempts to address this issue by only computing a subset of unary potentials, a need remains for a simple, fast way to decide which unary potentials should be computed, without sacrificing accuracy. In particular, for embedded applications, a method which avoids time or memory-intensive operations is desired. In this paper, we introduce an approach to selecting good locations to compute unary potentials. We implement an efficient morphological approach to select a small proportion of pixel locations where unary potentials will be calculated. The speed of our labelling method allows us to directly search a large parameter space to optimize our method for a given task. We show that our method can achieve comparable accuracy to what can be achieved when all unary potentials are calculated, with significant time saving. Furthermore, we show that it is possible to tune our method to yield improved accuracy for certain classes of interest. We demonstrate this over multiple datasets representing challenging applications for our approach.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125397708","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

Estimating driver awareness of pedestrians in crosswalk in the path of right or left turns at an intersection from vehicle behavior 基于车辆行为估计十字路口左右转弯人行横道上行人的驾驶员意识

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225807

Kei Tateiwa, K. Yamada

引用次数: 3