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IEEE Intelligent Vehicles Symposium, 2004最新文献

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Ultrasonic sensor system for detecting falling objects on railways 用于探测铁路上坠落物体的超声波传感器系统
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336498
F. Álvarez, J. Ureña, M. Mazo, A. Hernández, J.J. Garcia, P. Donato
{"title":"Ultrasonic sensor system for detecting falling objects on railways","authors":"F. Álvarez, J. Ureña, M. Mazo, A. Hernández, J.J. Garcia, P. Donato","doi":"10.1109/IVS.2004.1336498","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336498","url":null,"abstract":"The current rail security rules require, more and more, the automatic detection of possible obstacles on tracks, above all in areas where a large probability of alive beings intrusion or falling objects exists. In this paper an ultrasonic sensor system is proposed for this aim, paying special attention to the signal coding and processing. This signal coding, based on the use of complementary sequences, makes the system robust against atmospheric turbulence, the phenomenon which turns out to be the most problematic when transmitting ultrasonic waves outdoors.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116242486","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
Non-linear feedback control for short time headways based on constant-safety vehicle-spacing 基于等安全车距的短时间车头非线性反馈控制
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336375
J. Schweizer
{"title":"Non-linear feedback control for short time headways based on constant-safety vehicle-spacing","authors":"J. Schweizer","doi":"10.1109/IVS.2004.1336375","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336375","url":null,"abstract":"A simple lateral control scheme for automated vehicles is proposed which keeps the vehicle spacing close to its safety limits. The controller-feedback contains a non-linear function which imposes safety and comfort criteria. A time-varying control-gain is derived using a combination of linearization and pole placement methods. Simulations indicate that the scheme satisfies string-stability and comfort criteria, while safety is demonstrated by simulating a worst case braking scenario. The main advantages of the scheme are its simplicity and the flexibility to implement one or several nonlinear design criteria into the feedback loop, whereas the dynamic behavior can be determined independently.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125845848","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
Age differences in behavioral and visual characteristics while driving with narrow road driving assistance system 窄路驾驶辅助系统驾驶时行为和视觉特征的年龄差异
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336430
T. Sato, H. Kawashima, T. Daimon
{"title":"Age differences in behavioral and visual characteristics while driving with narrow road driving assistance system","authors":"T. Sato, H. Kawashima, T. Daimon","doi":"10.1109/IVS.2004.1336430","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336430","url":null,"abstract":"This study focuses on behavioral and visual characteristics of two age groups when using human interfaces for a narrow road driving assistance system. In the experiment using a motion based driving simulator, six elderly subjects and six young subjects drove in a narrow street and passed between a parked vehicle and telegraph poles. The performances of elderly drivers when driving with basic interface of the narrow road driving assistance system which presented the relation among drivers' vehicle, obstacles and a recommended route were compared with those of young drivers in terms of driving behaviors and eye movements. Based on the results and the analysis of drivers' cognitive process when using the narrow road driving assistance system, a new displaying method was proposed and the effects of the proposed interface on the elderly drivers' behavioral and visual characteristics were investigated.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125049290","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
A simultaneous localization and mapping algorithm based on Kalman filtering 一种基于卡尔曼滤波的同步定位与映射算法
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336457
H. Chou, E. Ollivier, M. Traonmilin, M. Parent
{"title":"A simultaneous localization and mapping algorithm based on Kalman filtering","authors":"H. Chou, E. Ollivier, M. Traonmilin, M. Parent","doi":"10.1109/IVS.2004.1336457","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336457","url":null,"abstract":"For automatic navigation of autonomous vehicles, localization in real time is a key issue. In this article, a simultaneous localization and mapping algorithm is proposed for an autonomous vehicle. We use a laser detection and ranging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, these two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127399483","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
Position detection using stereo slit camera and vertical objects 利用立体狭缝相机和垂直物体进行位置检测
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336480
N. Takayasu, M. Aoki
{"title":"Position detection using stereo slit camera and vertical objects","authors":"N. Takayasu, M. Aoki","doi":"10.1109/IVS.2004.1336480","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336480","url":null,"abstract":"In this paper we propose a new method for vehicle position detection at a dark place at night using stereo slit camera and vertical objects. Vertical objects used in this research were fluorescents placed vertically to the earth. The way to detect vehicle position is very simple. At first, we installed two slit cameras on the left side of the vehicle and took in the images of vertical objects. Secondly, we computed the central positions of their images from two images. Finally, we detected a position between the vehicle and the vertical objects. As a result of applying our method to the experimental test, position detecting became simple.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129040065","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
An integrated, robust approach to lane marking detection and lane tracking 一种集成的、鲁棒的车道标记检测和车道跟踪方法
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336440
J. McCall, M. Trivedi
{"title":"An integrated, robust approach to lane marking detection and lane tracking","authors":"J. McCall, M. Trivedi","doi":"10.1109/IVS.2004.1336440","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336440","url":null,"abstract":"Lane Detection is a difficult problem because of the varying road conditions that one can encounter while driving. We propose a method for lane detection using steerable filters. Steerable filters provide robustness to lighting changes and shadows and perform well in picking out both circular reflector road markings as well as painted line road markings. The filter results are then processed to eliminate outliers based on the expected road geometry and used to update a road and vehicular model along with data taken internally from the vehicles. Results are shown for a 9000-frame image sequence that include varying lane markings, lighting conditions, showing, and occlusion by other vehicles.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130473713","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: 137
Road sides recognition in non-structured environments by vision 非结构化环境中道路侧面的视觉识别
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336404
R. Aufrère, V. Marion, J. Laneurit, C. Lewandowski, J. Morillon, R. Chapuis
{"title":"Road sides recognition in non-structured environments by vision","authors":"R. Aufrère, V. Marion, J. Laneurit, C. Lewandowski, J. Morillon, R. Chapuis","doi":"10.1109/IVS.2004.1336404","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336404","url":null,"abstract":"The present communication deals with a vision system designed to detect and track roadsides on non-marked roads or paths. The initial detection method, mainly adapted to marked roads and briefly presented in this article, is based upon a model driven algorithm. This article presents the major improvements we achieved to adapt the approach to the particular context of non marked roads. These improvements are based on the development of a pre-processing step to improve the quality of the images, the transition detector, the recognition criterion. Moreover, the new approach is able to take into account the proprioceptive data provided by an inertial measurement unit. Results obtained show the robustness and the accuracy of the method.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126304944","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: 7
Fuzzy logic based lateral control for GPS map tracking 基于模糊逻辑的GPS地图跟踪横向控制
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336416
J. Naranjo, C. González, R. Garcia, T. de Pedro, J. Revuelto, J. Reviejo
{"title":"Fuzzy logic based lateral control for GPS map tracking","authors":"J. Naranjo, C. González, R. Garcia, T. de Pedro, J. Revuelto, J. Reviejo","doi":"10.1109/IVS.2004.1336416","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336416","url":null,"abstract":"The automatic control of the speed and the steering of a vehicle are two of the main steps in order to develop autonomous intelligent vehicles. In this paper, a development of steering control for automated cars based on fuzzy logic and its related field tests are presented. Artificial intelligence techniques are used for controlling a broad range of systems, trying to emulate the human behaviour when classical control models are too much complex and require a lot of design time. Particularly, fuzzy logic control techniques are well proved success methods for managing systems where there appear to be limitations for classical control. Our control system has been installed in two Citroen Berlingo testbed vans whose steering wheel has been automated and can be controlled from a computer. The main sensorial input is a RTK DGPS that gives us positioning with one-centimeter precision. The results of the realized experiments show a human like system performance with adaption capability to any kind of track.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121349040","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: 21
Communication architecture for sensorfusion systems 传感器融合系统的通信架构
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336410
M. Rabel, A. Schmeiser, H. Grossmann
{"title":"Communication architecture for sensorfusion systems","authors":"M. Rabel, A. Schmeiser, H. Grossmann","doi":"10.1109/IVS.2004.1336410","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336410","url":null,"abstract":"In- and inter-vehicle networking is one of the most exciting topics in todays' vehicle concepts. State of the art networks in cars which are configured in a very specific and fixed manner have reached their conceptional limit. Todays' approach is integration into an overall network, which guarantees an effective and lasting communication over years. Thus its main application is to maximise safety and individual mobility. Therefore an open network concept on all layers has to be built. The paper discusses such a concept based on gateways, considering the application's network parameters, like bandwidth, real-time parameters and mobility in ad-hoc networking.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122947423","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
Vehicle detection fusing 2D visual features 融合二维视觉特征的车辆检测
IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI: 10.1109/IVS.2004.1336395
C. Hoffman, T. Dang, C. Stiller
{"title":"Vehicle detection fusing 2D visual features","authors":"C. Hoffman, T. Dang, C. Stiller","doi":"10.1109/IVS.2004.1336395","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336395","url":null,"abstract":"This paper presents a method for detection and tracking of vehicles by finding various characteristic features in the images of a monochrome camera. The detection process uses shadow and symmetry features to generate vehicle hypotheses. These are fused and tracked over time using an Interacting Multiple Model method (IMM). Results for natural traffic scenes demonstrate high reliability of the proposed method.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120892507","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: 98
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