2015 IEEE Intelligent Vehicles Symposium (IV)最新文献_第8页

Turn prediction at generalized intersections 广义交叉口的转弯预测

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225911

Bo Tang, S. Khokhar, Rakesh Gupta

引用次数: 36

Urban platooning using a flatbed tow truck model 城市队列使用平板拖车模型

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225714

A. Ali, G. Garcia, P. Martinet

{"title":"Urban platooning using a flatbed tow truck model","authors":"A. Ali, G. Garcia, P. Martinet","doi":"10.1109/IVS.2015.7225714","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225714","url":null,"abstract":"Finding solutions to traffic congestion is an active area of research. Many ideas have been proposed to reduce this problem, among of this ideas is moving in platoon. The constant time headway policy (CTH) is a very important platoon control policy, but it is too conservative and induces large inter-vehicle distances. Recently, we have proposed a modification of CTH [1], [2]. This modification reduces inter-vehicle distances and makes CTH very practical. This paper focuses on the control of platoons in urban areas. To control the vehicles, we assume that the longitudinal and the lateral dynamics are decoupled. We take into account a simplified engine model. We linearize the two dynamics using exact linearisation technique. Then, we use the modified CTH control law, adapted to urban platoons, for the longitudinal control and the robust sliding mode control for lateral control. The stability and the safety of the platoon are also studied. The conditions of stability of homogeneous and nonhomogeneous platoons are established. The conditions to verify the safety of the platoon for the longitudinal control (assuming stable and accurate lateral control) are exhibited. The weaknesses (large inter-vehicle distance, weak stability near low frequencies) of the CTH are solved. The improved performance and the safety of the platoon are verified by simulation using TORCS (The Open Racing Car Simulator). A platoon consisting of ten vehicles is created and tested on a curved track, keeping a small desired intervehicle distance. The stability and safety of the longitudinal and lateral controls are tested in many scenarios. These scenarios include platoon creation, changing the speed and emergency stop on straight and curved tracks. The results demonstrate the effectiveness of the proposed approach.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"55 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":"133513117","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

A multi-block-matching approach for stereo 一种立体多块匹配方法

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225748

Nils Einecke, J. Eggert

{"title":"A multi-block-matching approach for stereo","authors":"Nils Einecke, J. Eggert","doi":"10.1109/IVS.2015.7225748","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225748","url":null,"abstract":"Block-Matching stereo is commonly used in applications with low computing resources in order to get some rough depth estimates. However, research on this simple stereo estimation technique has been very scarce since the advent of energy-based methods which promise a higher quality and a larger potential for further improvement. In the domain of intelligent vehicles, especially semi-global-matching (SGM) is widely spread due to its good performance and simple implementation. Unfortunately, the big downside of SGM is its large memory footprint because it is working on the full disparity space image. In contrast to this, local block-matching stereo is much more lean. In this paper, we will introduce a novel multi-block-matching scheme which tremendously improves the result of standard block-matching stereo while preserving the low memory-footprint and the low computational complexity. We tested our new multi-block-matching scheme on the KITTI stereo benchmark as well as on the new Middlebury stereo benchmark. For the KITTI benchmark we achieve results that even surpass the results of the best SGM implementations. For the new Middlebury benchmark we get results that are only slightly worse than state-of-the-art SGM implementations.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"10 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":"131480306","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: 41

Localization inside a populated parking garage by using particle filters with a map of the static environment 通过使用带有静态环境地图的粒子过滤器在一个拥挤的停车场内进行定位

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225669

Steffen Wahl, Peter Schlumberger, R. Rojas, M. Stampfle

引用次数: 12

LED traffic sign detection with the fast radial symmetric transform and symmetric shape detection LED交通标志检测具有快速径向对称变换和对称形状检测

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225704

WooYeol Jun, JeongMok Ha, Byeongchan Jeon, Joonho Lee, Hong Jeong

引用次数: 5

Drive quality analysis of lane change maneuvers for naturalistic driving studies 自然驾驶研究中变道机动的驾驶质量分析

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225759

R. Satzoda, Pujitha Gunaratne, M. Trivedi

引用次数: 13

Correspondence between variational methods and Hidden Markov Models 变分方法与隐马尔可夫模型的对应关系

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225715

J. Ziehn, M. Ruf, B. Rosenhahn, D. Willersinn, J. Beyerer, H. Gotzig

引用次数: 9

Safety beaconing rate control based on vehicle counting in WAVE 基于WAVE中车辆计数的安全信标速率控制

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225905

Haiyue Piao, Yongtae Park, Byungjo Kim, Hyogon Kim

引用次数: 6

Classifying driver's uncertainty about the distance gap at lane changing for developing trustworthy assistance systems 对驾驶员变道距离不确定性进行分类，开发可信赖的辅助系统

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225858

Fei Yan, Lars Weber, A. Lüdtke

{"title":"Classifying driver's uncertainty about the distance gap at lane changing for developing trustworthy assistance systems","authors":"Fei Yan, Lars Weber, A. Lüdtke","doi":"10.1109/IVS.2015.7225858","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225858","url":null,"abstract":"Driver's uncertainty in lane change situations could cause longer reaction times and even lead to wrong decisions, which is very dangerous for the critical driving task. We assume that reducing driver's uncertainty with assistance systems in lane change situations can not only increase traffic safety, but also increase driver's trust in assistance systems. In order to develop trustworthy assistance systems, this paper starts from classifying driver's uncertainty about distance gaps and studies the impact of distance gaps on driver's uncertainty at lane changing. In the driving simulator experiment, participants were asked to take steering or brake actions in different lane change situations. Their reaction times to an acoustic signal ordering to start changing lanes and subjective certainty scores were collected and analyzed. The results showed that with the constant closing speed of 10 km/h between the ego vehicle and rear vehicle, the brake action was more often preferred than the steering and participants were relatively certain with short reaction times at small distance gaps (<; 32m). At large distance gaps (> 44m), the steering was more often chosen than brake actions and participants were also certain with short reaction times. However, when the distance gap was in between (32m, 36m, 40m, 44m), participants were very uncertain and had relatively long reaction times.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"45 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121014204","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: 14

Performance comparison of two model based schemes for estimation of queue and delay at signalized intersections 两种基于模型的信号交叉口队列和延迟估计方案的性能比较

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI: 10.1109/IVS.2015.7225813

S. Anusha, L. Vanajakshi, S. Subramanian, Anuj Sharma

{"title":"Performance comparison of two model based schemes for estimation of queue and delay at signalized intersections","authors":"S. Anusha, L. Vanajakshi, S. Subramanian, Anuj Sharma","doi":"10.1109/IVS.2015.7225813","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225813","url":null,"abstract":"Reliable estimation of performance measures such as queue and delay at intersections is important for the proper management of traffic. The information about these variables is valuable for the development of various traffic control strategies. The spatial nature of queue and delay makes their direct measurement a challenging task. The present study estimated these performance measures for the scenario when the queue ends within the advance detector using the data obtained from loop detectors installed at the entry and the exit of the intersection. A detailed analysis of the data obtained from loop detectors revealed that there were errors in the data. Two model based schemes, namely the occupancy based method and the queue clearance based method, were used for estimation of queue and delay using the erroneous data obtained from loop detectors. The results showed that the queue clearance based method was performing better while estimating queue and delay compared to the occupancy based method. Thus, the queue clearance based method would be valuable for the estimation of queues and delays while implementing with erroneous field data.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"17 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":"125138589","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