2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)最新文献_第4页

Survey on vehicular attacks - building a vulnerability database 车辆攻击调查-建立漏洞数据库

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396919

Martin Ring, Jürgen Dürrwang, Florian Sommer, R. Kriesten

引用次数: 19

Behavior representation of robotic wheelchairs with physiological indices for passenger comfort 具有乘客舒适度生理指标的机器人轮椅行为表征

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396911

R. Hashimoto, R. Nomura, M. Kanbara, N. Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, K. Shinozawa, N. Hagita

{"title":"Behavior representation of robotic wheelchairs with physiological indices for passenger comfort","authors":"R. Hashimoto, R. Nomura, M. Kanbara, N. Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, K. Shinozawa, N. Hagita","doi":"10.1109/ICVES.2015.7396911","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396911","url":null,"abstract":"In this paper we propose a behavior representation system for robotic wheelchairs in which behavior information regarding the robotic wheelchair is provided to passengers to improve their sense of comfort; physiological indices are also used to measure passenger comfort. Many boarding-type robots (i.e., autonomous robots that carry passengers, such as autonomous vehicles, personal mobility robots, and robotic wheelchairs) have already been developed already. Most studies regarding this type of robot focus on safety control or efficient path planning but fail to consider passenger comfort. This paper describes how factors leading to passenger discomfort can be avoided by sharing behavior information. This study evaluates the validity of information sharing by estimating a stress level measured using heart rate and skin conductance as physiological indices. To investigate the relationship between different discomforting events and passengers' physiology indices, an experiment is conducted in which each passenger's physiology indices are measured while the autonomous robotic wheelchair is moving. For long-lasting stress events, the significant difference (p <; 0:01) in heart rate is shown by behavior representing of a robotic wheelchair with these indices. For strongly discomforting events, the significant difference (p <; 0:01) in skin response is also shown. These results show that the proposed system is effective for maintaining passenger comfort in robotic wheelchairs.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132391507","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: 8

Comfortable autonomous navigation based on collision prediction in blind occluded regions 基于盲遮挡区域碰撞预测的舒适自主导航

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396897

Taishi Sawabe, M. Kanbara, N. Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, N. Hagita

{"title":"Comfortable autonomous navigation based on collision prediction in blind occluded regions","authors":"Taishi Sawabe, M. Kanbara, N. Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, N. Hagita","doi":"10.1109/ICVES.2015.7396897","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396897","url":null,"abstract":"This paper presents an approach for human passenger stress reduction while riding a personal mobility autonomous vehicle. The particular vehicle of interest is a robotic autonomous wheelchair which can provide mobility assistance in pedestrian paths. State of the art algorithms for autonomous vehicles mainly focus on collision free path planning and safe control for obstacle avoidance. This work studies comfort factors of the passenger while riding the vehicle. We propose a method for velocity control of the robotic wheelchair based on the concept of “behavior dependent observability” to reduce stress from the collision prediction in blind regions. Behavior dependent observability (BDO) is defined as the visible collision area against dynamic obstacles which is free from collision. By using BDO, the velocity of the robotic wheelchair is computed so that passengers feel comfortable. Experimental results based on physiological measurements (heart rate and galvanic skin response) show that the control of the robotic wheelchair using the behavior dependent observability decreases stressful situations for passengers.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122234383","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: 9

Driving space detection by combining V-disparity and C-velocity 结合v -视差和c -速度驱动空间检测

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396921

Houssem-Eddine Deghdache, S. Bouchafa

引用次数: 1

Dynamic position calibration by road structure detection 基于道路结构检测的动态位置标定

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396902

T. Speth, Igor Doric, H. Riedel, T. Brandmeier, U. Jumar

引用次数: 1

Rectification of 3D building models based on GPS signal collected by vehicle 基于车载GPS信号的三维建筑模型校正

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396907

L. Hsu, Yutaro Wada, Yanlei Gu, S. Kamijo

{"title":"Rectification of 3D building models based on GPS signal collected by vehicle","authors":"L. Hsu, Yutaro Wada, Yanlei Gu, S. Kamijo","doi":"10.1109/ICVES.2015.7396907","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396907","url":null,"abstract":"For autonomous driving, both the estimation of the accurate ego position of vehicle and creation of the environment map such as Simultaneous localization and mapping (SLAM) technology are essential. In the SLAM technology, the 3D building model becomes an important aid to many positioning methods such as LiDAR and GPS positioning methods. To build accurate 3D building models, the accurate building footprint (the boundary of the building) is required. In this study, we propose an innovative method to correct the errors of building footprint on the 3D map by using GPS signal. In the urban canyon, GPS signal will be blocked by the buildings and only its reflection signal is received, which is well-known as non-line-of-sight (NLOS) reception. These reflections are potentially capable of indicating the correct position of the buildings. By using of a rough 3D building model, we apply it with a GPS ray-tracing method to track the simulated reflection path of the NLOS GPS. Theoretically, the length of observed reflection path, which is well-known as pseudorange measurement, and the length of simulated reflection path should be very similar. However, if the 3D map is not accurate, the difference between the observed pseudorange and simulated pseudorange will be detected. To utilize this fact, the proposed method is able to estimate the true position of the wall on the 3D map. The experiment results show that the proposed method successfully corrected the footprint of the rough 3D building model into about 1 meter accuracy. Importantly, the proposed method is capable of rectifying the building model only if several reflections GPS signals can be received from a same building.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131411562","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

Effects of errors in position- and navigation data on predictive vehicle operational strategy optimization 位置和导航数据误差对预测车辆运行策略优化的影响

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396916

Jan Martin, Ulrich Vogele, C. Endisch

{"title":"Effects of errors in position- and navigation data on predictive vehicle operational strategy optimization","authors":"Jan Martin, Ulrich Vogele, C. Endisch","doi":"10.1109/ICVES.2015.7396916","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396916","url":null,"abstract":"Predictive operational strategies enable fuel savings by optimizing the powertrain operation of a vehicle taking lookahead data like velocity limits and slopes of the planned route into account. Gear changes, free-wheeling, speed and operational modes are optimized along that route to achieve minimal fuel consumption. However, these optimizations assume complete information on the route properties ahead. To evaluate the impact of look-ahead data quality on the predictive operational strategies of passenger vehicles, the fuel consumption of different optimized speed trajectories are simulated. The fuel consumption of a speed trajectory with perfect knowledge is then compared to the energy needs of different speed trajectories generated on the same route by optimization methods based on erroneous look-ahead data. In the tested scenarios, optimized velocity trajectories show in most of the cases same or better fuel consumption than constant, non-optimized speed profiles, even if they are based on erroneous map data. Errors in look-ahead data can be shown to have bigger effects on heavy vehicles.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114642786","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: 0

Effect of skill development of haptic shared control in backward parking assist 触觉共享控制在倒车辅助中技能发展的影响

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396912

S. Tada, T. Wada

{"title":"Effect of skill development of haptic shared control in backward parking assist","authors":"S. Tada, T. Wada","doi":"10.1109/ICVES.2015.7396912","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396912","url":null,"abstract":"Advanced driver assistance systems (ADASs), such as parking assist, are widely used. ADASs have successfully reduced driver's workload. On the other hand, it is thought that it is important to improve the skill of the driver. The present study aims to establish a methodology for using an ADAS to achieve compatibility between decreasing the driver's workload and increasing the driver's skill. The present study focused on the assist system by haptic shared control (HSC) for backward parking maneuvers, which are considered to be a demanding task for novice drivers. The purpose of the present study was to investigate the effect of the HSC gain settings on the performance increase during and after the use of the system. First, we proposed a method to assist the driver's parking operation using the HSC. The proposed method displays torque around the steering wheel based on vehicle position feedback to reduce its error from the desired position, and steering angle feedback to reduce its error from the desired steering wheel angle, as determined by the preview driver model. Driving simulator experiments with various combinations of feedback gains demonstrated that skill improvements were achieved after and during the intervention when a higher gain is employed in the steering angle feedback term.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122878701","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

Driver body information analysis for distraction state detection 驾驶员身体信息分析的分心状态检测

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396886

Kazuhito Sato, Momoyo Ito, H. Madokoro, Sakura Kadowaki

引用次数: 3

Haptic interface of driver-assistance system based on safe driving evaluation 基于安全驾驶评价的驾驶员辅助系统触觉界面

2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2015-11-01 DOI: 10.1109/ICVES.2015.7396910

T. Hiraoka, Masafumi Hayakawa

引用次数: 1