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One of the major benefits of driving vehicles in controlled, close formations such as platoons is that of reduced air drag. However, this will set hard performance requirements on the system actuators, sensors and controllers of each vehicle. This paper analyzes the effects of fundamental limitations on the longitudinal and lateral control performance of a platoon and the effects on following distance,...
Conduct-by-Wire (CbW) is an innovative vehicle guidance concept that shifts the vehicle control task from the stabilization level to the guidance level. Instead of continuous stabilization on a designated trajectory - using the conventional control elements for manual steering, braking and accelerating - a CbW vehicle is controlled by means of maneuver commands. One important element on the way to...
In this paper, we present our recent efforts on developing a physical environment for performing traffic experiments. The two main characteristics of this environment are: (1) the whole environment is scaled down from the real traffic, (2) the traffic behaviors are performed by numbers of miniature autonomous vehicles. Performing traffic experiments in an actual environment has long been a hard problem...
This paper introduces a new speed control strategy for autonomous/semi-autonomous navigation of ground vehicles. Different from the previous studies, steering angle is considered in addition to speed error and integral of the speed error. Because of the highly nonlinear nature of vehicle model, fuzzy logic strategy is used for controller design. Vehicle modeling equations and used parameters are also...
Wireless vehicular communications are one of the most important technologies in the ITS field to improve the transport safety as well efficiency impact. Several standards definitions, hardware developments, research projects, use cases definitions and field operational tests are currently under deployment in order to accelerate the market availability of this technology. Nevertheless, though the possible...
The collection of Floating Car Data (FCD) is very important for dynamic traffic forecasts. For this purpose, sensor notes in cars are supposed to transmit traffic information via Long Term Evolution (LTE). In this paper, we evaluate this data transmission with regard to several Key Performance Indicators (KPIs) for a channel aware transmission. These indicators are the negative impact on human communication,...
Inter-vehicle communication is aim to be a part of the Next Generation Internet where vehicles can communicated with the other vehicles or a base station in ad hoc manner to realize the Intelligent Transport System (ITS) which can increase road safety and provide traffic information etc. Several existed routing protocols were extensively studied for the inter-vehicle communication. In this paper,...
This paper is a step towards a realization of a new way of controlling the ordinary traffic at urban intersections. The right of way is addressed to each vehicle individually, according to an optimized sequence. The paper aims to deepen the feasibility issue of a protocol dedicated to human drivers (ordinary vehicles). The proposed protocol is tested through a realistic intersection where vehicles...
In this paper, a clustering method of adjacent frames is proposed for vehicle flow statistics to overcome the fault of low robustness of video-based detection algorithms in complex environments. In the method, the boundaries of the abrupt or gradual visual content changing in consecutive video frames are described by color and intensity histogram method. The clustered frames containing different vehicles...
We have developed a dedicated onboard “sensor” utilizing wireless communication devices for collision avoidance around road intersections. The “sensor” estimates the positions of transmitters on traffic participants by comparing the strengths of signals received by four ZigBee receivers installed at the four corners of observing vehicle. In our previous work, the “sensor” was proposed as an alternative...
This paper describes a target detection system on transport infrastructures, based on monocular vision, for applications in the framework of Intelligent Transportation Systems (ITS). Using structured elements of the image, a vanishing point extraction is proposed to obtain an automatic calibration of the camera, without any prior knowledge. This calibration provides an approximate size of the searched...
Surveillance and safety systems for pedestrians and bicyclists are becoming much more important because there continue to be a large number of traffic accidents that involve vulnerable road users. In this paper, we propose an urban road user classification framework using local feature descriptors and hidden Markov models (HMM). Our framework achieved pedestrians, bicyclists, motorcyclist classification...
This paper introduces a part-based two-stage pedestrian detector. The system finds pedestrian candidates with an AdaBoost cascade on Haar-like features. It then verifies each candidate using a part-based HOG-SVM doing first a regression and then a classification based on the estimated function output from the regression. It uses the Histogram of Oriented Gradients (HOG) computed on both the full,...
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