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This paper proposes a novel light stripe projection based free parking space recognition method in order to overcome the common drawbacks of existing vision based target parking position designation methods in dark indoor parking site. 3D information of parking site is recognized by light stripe projection method. By analyzing the 3D information, system can recognize discontinuous points, pivot, and...
Communication between vehicles based on ad-hoc networking principles has become a prominent research area. The main difficulties in designing such vehicle-to-vehicle (V2V) networks arise from the lack of infrastructure, necessitating fully distributed functionalities and self-organizing capabilities, and from their highly dynamic nature due to the mobility of nodes. A new research goal is to use V2V...
We propose a method to reliably estimate the motion of a dynamic stereo camera system in the three dimensional world where observations are disturbed by high portions of independently moving objects. Robustness of the estimation process is achieved by applying an additional visual sensor. The system consists of a stereo vision sensor, acquiring optical flow and depth information of the scene and a...
Behavior decision in human brains is a process which involves different regions of the brain, each one considering specific driving aspects. These regions interact with each other and are able to stimulate or suppress other areas. The executed behavior is a result of a fusion process and depends on the structure of the network and the motivations of individual behaviors. At the Institute of Interactive...
Recent research has demonstrated that longitudinal control strategies are useful in highway systems to regulate the spacing and velocity of vehicles. In this paper, a robust longitudinal control system for platoons of vehicles is designed. The proposed control scheme is composed of two different loops: the outer loop has to determine the traction force necessary to maintain the safety distance between...
Cognitive automobiles consist of a set of algorithms that cover a wide range of processing levels: from low-level image acquisition and feature extraction up to situation assessment and decision making. The modules implementing them are naturally characterized by decreasing data rates at higher levels, because raw data is discarded after evaluation, and increasing processing intervals, as knowledge...
Verifying a safe locomotion of cognitive cars is indispensable for their participation in road traffic. This paper suggests an approach for verifying safety by computing reachable sets for the position of relevant traffic participants, i.e. a cognitive car as well as moving objects in its environment. In order to account for the uncertainty in the behavior of traffic participants, a stochastic setting...
This paper presents a vision system for street scene surveillance. In addition to the capabilities of detection and tracking of moving objects, it is also able to recognize and classify the targets based on the walking rhythm. The classification results are further used for event analysis and video retrieval of interested scenes. The proposed technique is computational efficient and can be used for...
We propose a new method of vehicle motion tracking. In our method, we use the template matching method for tracking. The template matching method has been used in many applications. In vehicle tracking, there are some problems, such as vehicle size change, occlusions, and shaded areas. To solve these problems, we divide and update the template at every frame by the background subtraction method. Moreover,...
In this paper, we present robust visual speed limit signs detection and recognition systems for American and European signs. Both are variants of the same modular traffic signs recognition architecture, with a sign detection step based only on shape-detection (rectangles or circles), which makes our systems insensitive to color variability and quite robust to illumination variations. Instead of a...
For many of the drivers, the keys to a car are the keys to independence, but for some of them they are also the "key" to serious injuries. In Europe, road accidents are considered as one of the main causes of death of people under 45 years of age. They number about 1,700,000 accidents, causing over 40,000 deaths and more than 1,300,000 injuries each year. More than 23% of these traffic fatalities...
Structure from motion refers to a technique to obtain 3D information from consecutive images taken with a moving monocular camera. In order to do this, the camera motion performed between two consecutive images needs to be known. In the work reported in this contribution, we investigated the precision of the odometry data of a commercially available passenger car. In order to identify the required...
In this communication we present a new algorithm of lane detection and tracking. In the detection step, from the first frame of a video sequence, a linear-parabolic model is used to smooth the estimated trajectories, obtained by using the NNF approach. In the step of tracking, assuming a small change in the model, we use the HMM to update each parameter of the model. The results obtained are satisfactory.
This paper presents a concept for achieving higher safety in road traffic by addressing long and short term reduced capability of the driver in regard to his driving task. Pivot point of the proposed concept is the continuous monitoring of the driver and the vehicle's state and their competence assignment. For this purpose, the driver and vehicle will be treated as one system and regarded under cybernetic...
In this paper we see vehicles as mobile sensors and disseminators of information about their surroundings. This emerging concept goes beyond the past efforts of dealing only with traffic congestion that has become a part of daily life for most of us. Many researchers worked on various congestion information systems that are mainly based on the concept of collecting and disseminating traffic information...
In this paper we propose a generic approach for navigation of nonholonomic vehicles in unknown environments. The vehicle model is also unknown, so the path planner uses reinforcement learning to acquire the optimal behaviour together with the model, which is estimated by a reduced set of transitions. After the training phase, the vehicle is able to explore the environment through a wall-following...
This paper proposes a digital intermediate frequency (D-IF) receiver for inter-vehicle communications. Bandpass sampling is employed to lower the sampling rate. Appropriate selection of sampling rate and equivalent digital IF frequency results in a simplified Digital down converter (DDC). Meanwhile, the simplified DDC makes the combination of DDC and the following low pass filter (LPF) possible. This...
This paper presents an integrated active suspension controller for vertical dynamics emulation. The proposed controller consists of an active body controller and a force controller, that are both designed based on mathematical models derived from physical principles and also validated by experimental data. The efficacy of the proposed method is verified by not only realistic simulations in an advanced...
Dynamic model of a differential drive soccer player using bondgraph method is presented. Minimum time maneuvers for the attacker behavior based on the model derived using bondgraph methodology are studied. The paper presents a new cooperative attacking behavior for two agents in a real time robot soccer game. This behavior consists of four hierarchy levels, the intelligent level, path planning level,...
A most important function of railway yard interlocking system is to supply accessible and safe routes for train dispatching, namely route search. A railway yard can be modeled as a directed weighted graph according to the network of infrastructure and rule of train movement. Then the problem turns to a graph search problem. In this paper we presented two style of interlocking system both existed with...
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