2012 IEEE Intelligent Vehicles Symposium最新文献_第9页

Energy optimal control of an over actuated Robotic Electric Vehicle using enhanced control allocation approaches 基于改进控制分配方法的超驱动电动机器人能量最优控制

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232147

J. Brembeck, Peter Ritzer

{"title":"Energy optimal control of an over actuated Robotic Electric Vehicle using enhanced control allocation approaches","authors":"J. Brembeck, Peter Ritzer","doi":"10.1109/IVS.2012.6232147","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232147","url":null,"abstract":"In this paper an energy optimal control strategy for a highly maneuverable Robotic Electric Vehicle (ROboMObil) is presented. The ROMO is a development of the Robotics and Mechatronics Center (which is part of the German Aerospace Center) to cope with several research topics, like energy efficient, autonomous or remote controlled driving for future (electro-) mobility applications. Since saving electric energy is a primal goal when operating a battery electric vehicle (like the ROMO), we have developed a new approach for energy optimal control of an over-actuated electric car. The focus of the control strategy lies in the model based minimization of the actuator losses and power consumption for driving along a precalculated trajectory to optimize the overall efficiency. The approach is based on a real-time capable nonlinear control allocation (CA) algorithm, using quadratic programming, implemented in the object oriented modeling language Modelica. Two optimization objectives are analyzed and the performance is presented by simulation results. Finally an CA extension to nonlinear dynamic inversion is discussed, which is able to compensate the different time constants of the actuators.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"128 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":"115079430","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: 35

Will intelligent vehicles evolve into Human-peer Robots? 智能汽车会进化成人类机器人吗?

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232142

M. Lio, F. Biral, M. Galvani, A. Saroldi

引用次数: 8

Robust extraction of lane markings using gradient angle histograms and directional signed edges 基于梯度角直方图和方向符号边缘的车道标记鲁棒提取

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232296

R. Satzoda, S. Sathyanarayana, T. Srikanthan

引用次数: 19

A probabilistic discriminative approach for situation recognition in traffic scenarios 交通场景中情景识别的概率判别方法

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232279

Q. Tran, J. Firl

{"title":"A probabilistic discriminative approach for situation recognition in traffic scenarios","authors":"Q. Tran, J. Firl","doi":"10.1109/IVS.2012.6232279","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232279","url":null,"abstract":"Understanding of traffic situations is an essential part of future advanced driver assistance systems (ADAS). This has to handle spatio-temporal dependencies of multiple traffic participants and uncertainties from different sources. Most existing approaches use probabilistic generative joint structures like Hidden Markov Models (HMM), which have long been used for dealing with activity recognition problems. Two significant limitations of these models are the assumption of conditional independence of observations and the availability of prior information. In this study, we present a probabilistic discriminative approach based on undirected probabilistic graphical models (Markov Networks). We combine two well-studied models: the log-linear model and the Conditional Random Field (CRF), which use dynamic programming for efficient, exact inference and their parameters can be learned via convex optimization. Since CRF conditions on entire observation sequences, we can avoid the requirement of independence between observations. Additionally, with discriminative models prior information of each activity is not necessary when performing a classification step. These two advantages of the discriminative models are very useful for our focusing problem of traffic scene understanding. We evaluate our approach with real data and show that it is able to recognize different driving maneuvers occurring at an urban intersection.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"41 3 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":"131233845","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

Sensor clouds for Intelligent Truck Monitoring 智能卡车监测的传感器云

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232192

N. Zingirian, Carlo Valenti

引用次数: 35

Visible light communications: Application to cooperation between vehicles and road infrastructures 可见光通信:应用于车辆与道路基础设施之间的合作

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232225

A. Căilean, B. Cagneau, L. Chassagne, S. Topçu, Y. Alayli, J. Blosseville

引用次数: 83

Local stereo disparity estimation with novel cost aggregation for sub-pixel accuracy improvement in automotive applications 基于成本聚合的局部立体视差估计提高了汽车应用的亚像素精度

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232234

Zhen Zhang, X. Ai, C. N. Canagarajah, N. Dahnoun

引用次数: 11

Pushing the limits of stereo using variational stereo estimation 使用变分立体估计推动立体的极限

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232171

René Ranftl, S. Gehrig, T. Pock, H. Bischof

引用次数: 131

Multiple-vehicle longitudinal collision avoidance and impact mitigation by active brake control 主动制动控制的多车纵向碰撞避免和冲击缓解

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232246

Xiao-Yun Lu, Jianqiang Wang

引用次数: 16

Probe vehicle data for characterizing road conditions associated with inclement weather to improve road maintenance decisions 探测车辆数据，以表征与恶劣天气相关的道路状况，以改善道路维护决策

2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232276

A. Hainen, S. Remias, Thomas M. Brennan, C. Day, D. Bullock

{"title":"Probe vehicle data for characterizing road conditions associated with inclement weather to improve road maintenance decisions","authors":"A. Hainen, S. Remias, Thomas M. Brennan, C. Day, D. Bullock","doi":"10.1109/IVS.2012.6232276","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232276","url":null,"abstract":"Connected vehicle concepts can provide an enormously rich new data source that can be used for a variety of safety and performance measure applications. However, to date there are very limited connected vehicle deployments or applications other than graphical color coded maps provided by private sector companies. This paper takes an approach of introducing the concept of tabulating statistical distributions of highway segment space-mean speed to characterize roadway conditions associated with inclement weather. These statistics are computed for segments that correspond to a particular winter weather highway maintenance route. Several examples are presented that illustrates how these statistics can be used to identify the onset of hazardous winter weather and provide outcome oriented performance measure for the roadway condition. During one of the winter storms analyzed, the space mean speed decreased approximately 20mph during a storm and the interquartile range, increased from about 8mph to about 12mph. The paper concludes with a table that summarizes the number of hours, by day, that each snow and ice maintenance route had space mean speeds below 45mph. Using such statistics, geographic influences and alternative strategies for winter operations can be quantitatively assessed to determine the best practices for maintaining high travel time reliability during inclement weather conditions.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"18 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":"126058489","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