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Advanced Rider Assistance Systems (ARAS) for powered two-wheelers improve driving behaviour and safety. Further developments of intelligent vehicles will also include video-based systems, which are successfully deployed in cars. Porting such modules to motorcycles, the camera pose has to be taken into account, as e. g. large roll angles produce significant variations in the recorded images. Therefore,...
The paper proposes low-cost adaptive control solutions dedicated to the position control of electromagnetic actuated clutch systems. The initial nonlinear model of the plant is simplified and next linearized to use it in the controller design procedures. A comparative analysis between five control solution (CS) — the classical PI and PID CS, the fuzzy CS, the adaptive CS with PI gain-scheduling controllers...
This paper presents a real time monocular EKF SLAM process that uses only Cartesian defined landmarks. This representation is easy to handle, light and consequently fast. However, it is prone to linearization errors which can cause the filter to diverge. Here, we will first clearly identify and explain when those problems take place. Then, a solution, able to reduce or avoid the errors involved by...
This paper focuses on the influence on traffic flow characteristics of distance between on-ramp and off-ramp in expressway. In this research, those characteristics include traffic flow rate, average speed and average density. Based on VISSEVI, we calibrated key parameters and a calibrating procedure is proposed. Then we simulated scenarios with different distances from 100m to 1000m. Analyses of the...
The dynamics of multi-agent in nature have been largely studied for a long time to investigate how the aggregation of agents can move smoothly in complex environments without collision. The main insights can be summarized such that the aggregated dynamics of animals and particles can be explained by an individual's simple rules. In a similar vein, we conjecture that such simple rules for vehicle maneuvering...
The movement of the vehicle provides useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by means of a GPS, but there are some areas in urban environments where the signal is not available, as tunnels or streets with high buildings. A new method for 2D visual ego motion estimation in urban environments is presented in...
This paper addresses the problem of finding the host vehicle's lateral position on a multi-lane road, using information obtained by processing video sequences. A very important cue for lane identification is the class of the boundaries of the current lane. This paper presents a reliable solution for lane boundary type identification, based on frequency analysis of the gray level profile of these boundaries,...
This paper addresses the problem of joint state and existence estimation in the presence of temporally asynchronous measurements. In multi-sensor fusion, the problem can occur that measurements from different sensors can arrive at the processing unit out of sequence, i.e., the original temporal order of the measurements is lost. For the first time, the influence of these out-of-sequence measurements...
Recently, the introduction of dense, long-range 3D sensors has facilitated tracking of arbitrary objects. Especially in the context of autonomous driving, other traffic participants driving the streets usually stay well-segmented from each other. In contrast, pedestrians or bicyclists do not always stay on the road and they often get close to static structure of the environment, e.g. traffic lights...
This paper deals with the application of the concept of Lyapunov exponents in vehicle lateral stability analysis. The constructive nature of the available methods for calculating Lyapunov exponents as the ‘invariant’ measure of the dynamics is the main advantage of this concept. The vehicle model has two degrees of freedom (2-DOF), and its non-linearity is caused by the third-order polynomial expression...
Vehicle detection in traffic scenes is a fundamental task for intelligent transportation system and has many practical applications as diverse as traffic monitoring, intelligent scheduling and autonomous navigation. In recent years, the number of detection approaches in monocular images has grown rapidly. However, most of them focus on detecting other objects (such as face, pedestrian, cat, dog, etc...
A central clue for implementation of visual memory based navigation strategies relies on efficient point matching between the current image and the key images of the memory. However, the visual memory may become out of date after some times because the appearance of real-world environments keeps changing. It is thus necessary to remove obsolete information and to add new data to the visual memory...
In this paper a novel spline-based multi-lane detection and tracking system is proposed. Reliable lane detection and tracking is an important component of lane departure warning systems, lane keeping support systems or lane change assistance systems. The major novelty of the proposed approach is the usage of the so-called Catmull-Rom spline in combination with the extended Kalman filter tracking....
In the context of driver assistance, an accurate and reliable prediction of the vehicle's trajectory is beneficial. This can be useful either to increase the flexibility of comfort systems or, in the more interesting case, to detect potentially dangerous situations as early as possible. In this contribution, a novel approach for trajectory prediction is proposed which has the capability to predict...
In recent years various collision warning systems for rear-end crash situations have been introduced into the market. Their goal is to reduce the number of fatalities and to mitigate collision consequences. The challenge in the design for such functions is to achieve a high effectiveness for both attentive and inattentive drivers. A possible approach could be an adaptation of the human-machine interface...
Modern vehicles are equipped with multiple cameras which are already used in various practical applications. Advanced driver assistance systems (ADAS) are of particular interest because of the safety and comfort features they offer to the driver. Camera based scene understanding is an important scientific problem that has to be addressed in order to provide the information needed for camera based...
Frontal Pre-Collision Systems (PCS) and Lane Departure Warning (LDW) systems are two of the first active safety systems to penetrate the passenger vehicle market. PCS can warn the driver, amplify the driver's braking effort, and autonomously brake even if there is no driver input. LDW systems deliver a warning to the driver when the vehicle is drifting out of its lane. The potential effectiveness...
Many automotive systems use linear approaches to track and predict other traffic participants. While this may be appropriate on highways, linear predictions do not work properly on curved roads or lane crossings. This contribution introduces a generic way for including environmental knowledge — such as the lane trajectory ahead — to anticipate yaw rate and acceleration of other traffic participants...
In this paper, we propose a method for detecting abnormal driving of vehicles, such as meandering, transverse motion and acceleration/deceleration. In particular, we extract abnormal vehicle motions in the sense of group behavior by using multilinear relationship in space-time images. The multilinear relationship in space-time images holds when multiple cameras move with translational motions in different...
Intersections are the most complex and hazardous areas of the road network, and 89% of accidents at intersection are caused by driver error. We focus on these accidents and propose a novel approach to risk assessment: in this work dangerous situations are identified by detecting conflicts between intention and expectation, i.e. between what drivers intend to do and what is expected of them. Our approach...
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