2012 IEEE Intelligent Vehicles Symposium最新文献_第10页

StreamCars: A new flexible architecture for driver assistance systems StreamCars:一种新的灵活的驾驶员辅助系统架构

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232125

Andre Bolles, Hans-Jürgen Appelrath, Dennis Geesen, M. Grawunder, Marco Hannibal, Jonas Jacobi, F. Köster, D. Nicklas

{"title":"StreamCars: A new flexible architecture for driver assistance systems","authors":"Andre Bolles, Hans-Jürgen Appelrath, Dennis Geesen, M. Grawunder, Marco Hannibal, Jonas Jacobi, F. Köster, D. Nicklas","doi":"10.1109/IVS.2012.6232125","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232125","url":null,"abstract":"One of the main challenges in the development of traffic systems is to assure safety for all road users. Hence, especially expensive vehicles are equipped with advanced driver assistance systems (ADAS) that use data about the vehicle and information about objects in the proximity of the vehicle to execute the assistance function. These objects have to be detected by sensors and they have to be tracked over multiple scans to keep the object's state up-to-date. Usually, such ADAS are developed as proprietary systems that are tailored for the specific assistance function and the specific sensors in use. Indeed, that leads to a very efficient system. However, changing system properties, e. g. an exchange of sensors, is very expensive. In this case, very often at least some parts of the system code have to be reimplemented. To solve this problem of bad maintainability which arises especially during the development of new assistance functions in this work a new architecture for ADAS is presented. The relevant information for the assistance function is no longer provided by hard coded, predefined processes, but by flexible continuous operator plans in a datastream management system. These operator plans build up a dynamic context model of the vehicle's environment. The context model is kept up-to-date by object tracking operators in these operator plans and is then used as a data source to extract information for different assistance functions. This extraction is also done by operator plans that produce only relevant information and discard other information.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123564426","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: 12

Modular approach to energy efficient driver assistance incorporating driver acceptance 模块化方法节能驾驶辅助纳入驾驶员接受

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232116

P. Themann, L. Eckstein

引用次数: 8

A novel approach for the probabilistic computation of Time-To-Collision 一种新的碰撞时间概率计算方法

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232221

A. Berthelot, A. Tamke, T. Dang, G. Breuel

引用次数: 48

Fast visual road recognition and horizon detection using multiple artificial neural networks 基于多个人工神经网络的快速视觉道路识别和地平线检测

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232175

P. Shinzato, V. Grassi, F. Osório, D. Wolf

引用次数: 48

Real-time detection and tracking of pedestrians at intersections using a network of laserscanners 使用激光扫描仪网络实时检测和跟踪十字路口的行人

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232226

D. Meissner, Stephan Reuter, K. Dietmayer

{"title":"Real-time detection and tracking of pedestrians at intersections using a network of laserscanners","authors":"D. Meissner, Stephan Reuter, K. Dietmayer","doi":"10.1109/IVS.2012.6232226","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232226","url":null,"abstract":"Accident analysis shows that the majority of accidents with body injuries occur in urban areas and more than 50 percent of those urban accidents happen at intersections. Due to that a major aim of the Ko-PER project, which is part of research initiative Ko-FAS, is to improve safety at intersections by infrastructure based perception. To recognize and track the moving objects, a network of laserscanner sensors observes the intersection and provides a 3D profile of the current scene. By means of the 3D measurements a robust and adaptive Gaussian mixture background model is trained to segment the measurements of dynamic objects and static objects. After the segmentation, the foreground points of each sensor are clustered based on the density of the point clouds and finally pedestrians are classified using dimension features. This paper focuses on tracking of pedestrians, which are the most vulnerable road users. In order to be able to integrate dependencies between the states of the pedestrians, a random finite set particle filter is used to track the pedestrians. The performance of the laserscanner based tracking system is shown and evaluated with measurements from the Ko-PER test intersection at Conti-Safety-Park. Therefore, the optimal subpattern assignment (OSPA) metric is used to evaluate the object recognition and tracking system.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130136083","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

Model-based detection and tracking of vehicle using a scanning laser rangefinder: A particle filtering approach 基于模型的扫描激光测距仪车辆检测与跟踪:粒子滤波方法

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232265

Élodie Vanpoperinghe, M. Wahl, J. Noyer

引用次数: 8

Improving information dissemination in sparse vehicular networks by adding satellite communication 通过增加卫星通信改善稀疏车载网络的信息传播

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232136

Bernhard Kloiber, T. Strang, Hanno Spijker, G. Heijenk

{"title":"Improving information dissemination in sparse vehicular networks by adding satellite communication","authors":"Bernhard Kloiber, T. Strang, Hanno Spijker, G. Heijenk","doi":"10.1109/IVS.2012.6232136","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232136","url":null,"abstract":"Information dissemination in pure Vehicular Ad Hoc NETworks (VANETs) such as ITS-G5 becomes problematic when the network is sparse. In situations where the number of vehicles, that can act as a communication node, is insufficiently low, e.g. in rural areas, during nighttime or because of a low market penetration of the technology in the early years of market introduction, certain range limits (unavailability of forwarding nodes) or timing limits (store-and-forward techniques) are stressed. Due to the limited communication range, VANETs start to build separated clusters, if the density of equipped vehicles is too low. Consequently, information dissemination without delay-massive store-and-forwarding is only possible within one cluster, but not beyond. This paper investigates the integration of Car-to-Car (C2C) with an additional satellite communication technology, referred to as Car-to-Satellite (C2S). A realistic sparse vehicular network scenario has been simulated and evaluated with respect to the in-time reception of safety-related information. The results show that information dissemination can be significantly improved through a limited number of vehicles which are additionally equipped with satellite terminals. In fact, even the market introduction of VANET-based ITS can be significantly accelerated with just a few vehicles equipped with non-VANET communication technology.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126593026","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: 22

Improving lateral performance of longer combination vehicles — An approach based on eigenstructure assignment 改进较长组合车辆横向性能——一种基于特征结构分配的方法

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232151

S. Kharrazi, T. Gordon, M. Lidberg

引用次数: 1

Constraint-based planning and control for safe, semi-autonomous operation of vehicles 基于约束的规划和控制，用于车辆的安全、半自主操作

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232153

S. J. Anderson, S. Karumanchi, K. Iagnemma

{"title":"Constraint-based planning and control for safe, semi-autonomous operation of vehicles","authors":"S. J. Anderson, S. Karumanchi, K. Iagnemma","doi":"10.1109/IVS.2012.6232153","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232153","url":null,"abstract":"This paper presents a new approach to semi-autonomous vehicle hazard avoidance and stability control, based on the design and selective enforcement of constraints. This differs from traditional approaches that rely on the planning and tracking of paths. This emphasis on constraints facilitates “minimally-invasive” control for human-machine systems; instead of forcing a human operator to follow an automation-determined path, the constraint-based approach identifies safe homotopies, and allows the operator to navigate freely within them, introducing control action only as necessary to ensure that the vehicle does not violate safety constraints. The method evaluates candidate homotopies based on “restrictiveness”, rather than traditional measures of path goodness, and designs and enforces requisite constraints on the human's control commands to ensure that the vehicle never leaves the controllable subset of a desired homotopy. Identification of these homotopic classes in off-road environments is performed using geometric constructs. The goodness of competing homotopies and their associated constraints is then characterized using geometric heuristics. Finally, input limits satisfying homotopy and vehicle dynamic constraints are enforced using threat-based feedback mechanisms to ensure that the vehicle avoids collisions and instability while preserving the human operator's situational awareness and mental models. The methods developed in this work are shown in simulation and experimentally demonstrated in safe, high-speed teleoperation of an unmanned ground vehicle.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"211 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123272536","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: 111

Medium access control based on a Non Cooperative Cognitive Radio for platooning communications 基于非合作认知无线电的队列通信介质访问控制

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232172

Mario G. Manzano, F. Espinosa, Á. Bravo, David García, Alfredo Gardel Vicente, I. B. Muñoz

引用次数: 6