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

Identifying a gap in existing validation methodologies for intelligent automotive systems: Introducing the 3xD simulator 识别现有智能汽车系统验证方法的差距:介绍3d模拟器

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225758

S. Khastgir, S. Birrell, G. Dhadyalla, P. Jennings

{"title":"Identifying a gap in existing validation methodologies for intelligent automotive systems: Introducing the 3xD simulator","authors":"S. Khastgir, S. Birrell, G. Dhadyalla, P. Jennings","doi":"10.1109/IVS.2015.7225758","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225758","url":null,"abstract":"Recently there has been a growth in the incorporation of autonomous features within vehicles. From being perceived as a comfort feature, autonomous features in vehicles have now become a safety feature which are foreseen to reduce accidents. This has led to a new trend within the automotive industry of focussing on autonomous features for driver safety, which might ultimately lead to fully autonomous vehicles. Considering the fact that most of the accidents on UK roads occur due to driver error, driver-less vehicles would prove to be a benefit. However with automation, an even greater challenge of system validation in all scenarios needs to be addressed. For this, various methods of validation have been developed by different research organizations and manufacturers, but a standardized process still evades the industry. Some of the existing methods have been discussed in this paper to critically compare their quality of results and ease of execution. Subsequently, a new test platform has been proposed using the 3xD driving simulator which encompasses most requirements of a general testing method. A standardized process which would benefit the industry both in terms of reducing costs of having varied processes, and by increasing customer confidence can be developed using a non-invasive platform like the 3xD driving simulator. The novelty of the 3xD simulator is the ability to drive-in any vehicle (production/prototype) and develop testing methodologies in an immersive wireless environment.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"34 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":"125101191","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

Using EEG to recognize emergency situations for brain-controlled vehicles 利用脑电图识别脑控车辆的紧急情况

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225896

Teng Teng, Luzheng Bi, Xinan Fan

引用次数: 16

Timing of unstructured transitions of control in automated driving 自动驾驶中非结构化控制转换的时序

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225841

Brian K. Mok, Mishel Johns, Key Jung Lee, Hillary Page Ive, D. Miller, Wendy Ju

{"title":"Timing of unstructured transitions of control in automated driving","authors":"Brian K. Mok, Mishel Johns, Key Jung Lee, Hillary Page Ive, D. Miller, Wendy Ju","doi":"10.1109/IVS.2015.7225841","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225841","url":null,"abstract":"With automated driving systems, drivers may still be expected to resume full control of the vehicle. While structured transitions where drivers are given warning are desirable, it is critical to benchmark how drivers perform when transition of control is unstructured and occurs without advanced warning. In this study, we observed how participants (N=27) in a driving simulator performed after they were subjected to an emergency loss of automation. We tested three transition time conditions, with an unstructured transition of vehicle control occurring 2 seconds, 5 seconds, or 8 seconds before the participants encountered a road hazard that required the drivers' intervention. Few drivers in the 2 second condition were able to safely negotiate the road hazard situation, while the majority of drivers in 5 or 8 second conditions were able to navigate the hazard safely. Similarly, drivers in 2 second condition rated the vehicle to be less likeable than drivers in 5 and 8 second conditions. From the study results, we are able to narrow in on a minimum amount of time in which drivers can take over the control of vehicle safely and comfortably from the automated system in the advent of an impending road hazard.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"39 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":"133483292","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: 57

Simultaneous localization and mapping based on the local volumetric hybrid map 基于局部体积混合地图的同步定位与制图

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225744

Jaebum Choi, M. Maurer

{"title":"Simultaneous localization and mapping based on the local volumetric hybrid map","authors":"Jaebum Choi, M. Maurer","doi":"10.1109/IVS.2015.7225744","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225744","url":null,"abstract":"Simultaneous localization and mapping (SLAM) plays a significant role in autonomous vehicles when a global navigation satellite system (GNSS) is not available. Environment models and underlying estimation techniques are key factors of this algorithm. In this paper, we present a hybrid map-based SLAM approach using Rao-Blackwellized particle filters (RBPFs). We represent the environment with the hybrid map which consists of feature and grid maps. The joint posterior between the vehicle positions and both maps are maintained using RBPFs. This approach allows a vehicle to update its states in a more robust and efficient way. We derived a novel sampling formula by combining a feature measurement likelihood to the traditional grid-based SLAM framework and can decrease the uncertainty of the predicted vehicle position significantly. Moreover, we represent the grid maps with 3D models because 2D models could be insufficient and less reliable to achieve tasks such as navigation and obstacle avoidance in complex 3D environment. We are also able to show that the 3D grid measurement likelihood has a lower variance and with that we can improve the overall performance of the algorithm.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"30 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":"133909439","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

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